Autonomous visual self-localization in completely unknown environment

Sadeghi-Tehran, Pouria and Behera, Sashmita and Angelov, Plamen and Andreu, Javier (2012) Autonomous visual self-localization in completely unknown environment. In: Evolving and Adaptive Intelligent Systems (EAIS), 2012 IEEE Conference on. IEEE, pp. 90-95. ISBN 978-1-4673-1728-3

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In this paper, a novel approach to visual self-localization in an unknown environment is presented. The proposed method makes possible the recognition of new landmark without using GPS or any other communication links or pre-training. An image-based self-localization technique is used to automatically label landmarks that are detected in real-time using a computationally efficient and recursive algorithm. Real-time experiments are carried in outdoor environment at Lancaster University using a real mobile robot Pioneer 3DX in order to build a map the local environment without using any communication links. The presented experimental results in real situations show the effectiveness of the proposed method.

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20 Jul 2012 14:06
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21 Nov 2022 14:42