Abstract
Knowing its position in an environment is an essential capability for any useful mobile robot. Monte-Carlo Localization (MCL) has become a popular framework for solving the self-localization problem in mobile robots. The known methods exploit sensor data obtained from laser range finders or sonar rings to estimate robot positions and are quite reliable and robust against noise. An open question is whether comparable localization performance can be achieved using only camera images, especially if the camera images are used both for localization and object recognition. In this paper, we discuss the problems arising from these characteristics and showex perimentally that MCL nevertheless works very well under these conditions.
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© 2001 Springer-Verlag Berlin Heidelberg
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Enderle, S., Folkerts, H., Ritter, M., Sablatnög, S., Kraetzschmar, G., Palm, G. (2001). Vision-Based Robot Localization Using Sporadic Features. In: Klette, R., Peleg, S., Sommer, G. (eds) Robot Vision. RobVis 2001. Lecture Notes in Computer Science, vol 1998. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44690-7_5
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DOI: https://doi.org/10.1007/3-540-44690-7_5
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