Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping

Prasser, D. P. and Wyeth, G. F. (2003). Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping. In: Proceedings of the 2003 IEEE International Conference on Robotics and Automation. The 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, (1291-1296). 14-19 September 2003. doi:10.1109/ROBOT.2003.1241770


Author Prasser, D. P.
Wyeth, G. F.
Title of paper Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping
Conference name The 2003 IEEE International Conference on Robotics and Automation
Conference location Taipei, Taiwan
Conference dates 14-19 September 2003
Proceedings title Proceedings of the 2003 IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Journal name Proceedings - IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Place of Publication Taipei, Taiwan
Publisher The Institute of Electrical and Electronics Engineers
Publication Year 2003
Sub-type Fully published paper
DOI 10.1109/ROBOT.2003.1241770
ISBN 0-7803-7737-0
ISSN 1050-4729
Volume 1
Start page 1291
End page 1296
Total pages 6
Collection year 2003
Language eng
Abstract/Summary Probabilistic robotics most often applied to the problem of simultaneous localisation and mapping (SLAM), requires measures of uncertainty to accompany observations of the environment. This paper describes how uncertainty can be characterised for a vision system that locates coloured landmarks in a typical laboratory environment. The paper describes a model of the uncertainty in segmentation, the internal cameral model and the mounting of the camera on the robot. It explains the implementation of the system on a laboratory robot, and provides experimental results that show the coherence of the uncertainty model.
Subjects E1
280208 Computer Vision
780199 Other
Keyword Image colour analysis
Image segmentation
Mobile robots
Object recognition
Q-Index Code E1

 
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Created: Fri, 24 Aug 2007, 02:21:54 EST