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Outdoor Localization Using Wide-Angle Visual Feature Matching and Image Retrieval

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 66))

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Summary

This paper describes an outdoor mobile robot navigation and localization system based on visual features. We use a novel feature detector operating on wide-angle images and create a database of image features for a large outdoor environment. Images are geo-tagged by their pose. Given an arbitrary view we use algorithms inspired by “Video Google” to extract scenes from the database that overlap the current view and from which we can estimate our current pose in the environment or detect loop closures.

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Author information

Authors and Affiliations

  1. Queensland University of Technology, Brisbane, QLD, Australia

    Peter Hansen & Wageeh Boles

  2. CSIRO, PO Box 883, Kenmore, Australia, 4069

    Peter Hansen & Peter Corke

Authors
  1. Peter Hansen
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  2. Peter Corke
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  3. Wageeh Boles
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, 565-0871, Suita, Osaka, Japan

    Makoto Kaneko

  2. Department of Mechano-Informatics, Faculty of Engineering, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Yoshihiko Nakamura

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Hansen, P., Corke, P., Boles, W. (2010). Outdoor Localization Using Wide-Angle Visual Feature Matching and Image Retrieval. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_22

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  • DOI: https://doi.org/10.1007/978-3-642-14743-2_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-14742-5

  • Online ISBN: 978-3-642-14743-2

  • eBook Packages: EngineeringEngineering (R0)

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