Vision-based Global Localization of Large-Scale Indoor Environments with Hierarchical Map
Date Issued
2008
Date
2008
Author(s)
Peng, Yu-An
Abstract
In our thesis, we propose a system to make the mobile robot building a vision-based hierarchical map and then quickly localizing itself by this map. In learning stage, each image The top-level map is a topological map which is represented as the graph because of the fitness of the large-scale environments. In this map, the vertices comprise some visual information for efficiently identifying the places of the robot''s environment and the edges denote the spatial relation between these places. Then, we construct a small metric map attached each node of the topological map. After this two steps, the robot can localize itself by this hierarchical map effectively and robustly.
Subjects
monocular
visoin
global localization
indoor
hierarchical
Type
thesis
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