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Visual Appearance-Based Unmanned Vehicle Sequential Localization : Localizzazione sequenziale a partire da apparenza visuale per un veicolo senza pilota, in: International Journal of Advanced Robotic Systems |
Dokument öffnen
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Allgemeine Angaben |
| Autor |
Liu, Wei; Zheng, Nanning; Xue, Jianru; Zhang, Xuetao; Yuan, Zejian |
| Erschienen |
InTech Open Access Publisher, 2013
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| Kurzbeschreibung |
Localizationis of vital importance for an
unmanned vehicle to drive on the road. Most of the
existing algorithms are based on laser range finders,
inertial equipment, artificial landmarks, distributing
sensors or global positioning system(GPS) information.
Currently, the problem of localization with vision
information is most concerned. However, vision‐based
localization techniquesare still unavailable for practical
applications. In this paper, we present a vision‐based
sequential probability localization method. This method
uses the surface information of the roadside to locate the
vehicle, especially in the situation where GPS information
is unavailable. It is composed of two step, first, in a
recording stage, we construct a ground truthmap with the
appearance of the roadside environment. Then in an online
stage, we use a sequential matching approach to
localize the vehicle. In the experiment, we use two
independent cameras to observe the environment, one is
left‐orientated and the other is right. SIFT features and
Daisy features are used to represent for the visual
appearance of the environment. The experiment results
show that the proposed method could locate the vehicle
in a complicated, large environment with high reliability. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
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