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Topological Localization Based on Salient Regions in Unknown Environments
Hong Kong August 20-August 24
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICPR.2006.112618th International Conference on Patt ...
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Lu Wang, Yuling Li, Zixing Cai, "Topological Localization Based on Salient Regions in Unknown Environments," Pattern Recognition, International Conference on, vol. 2, pp. 369-372, 18th International Conference on Pattern Recognition (ICPR'06) Volume 2, 2006.
 
 
BibTex
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@article{ 10.1109/ICPR.2006.1126,
author = {Lu Wang and Yuling Li and Zixing Cai},
title = {Topological Localization Based on Salient Regions in Unknown Environments},
journal ={Pattern Recognition, International Conference on},
volume = {2},
year = {2006},
issn = {1051-4651},
pages = {369-372},
doi = {http://doi.ieeecomputersociety.org/10.1109/ICPR.2006.1126},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Pattern Recognition, International Conference on
TI - Topological Localization Based on Salient Regions in Unknown Environments
SN - 1051-4651
SP369
EP372
A1 - Lu Wang,
A1 - Yuling Li,
A1 - Zixing Cai,
PY - 2006
KW - null
VL - 2
JA - Pattern Recognition, International Conference on
ER -
 
Lu Wang, Central South University, Changsha, Hunan province, P. R. China
Yuling Li, ZhongYuan University of Technology, Zhengzhou, Henan, China
Zixing Cai, Central South University, Changsha, Hunan province, P. R. China
This paper presents a new topological localization system for mobile robot navigation based on salient visual regions. These salient regions are obtained by computing the opponencies of color and texture among multi-scale image spaces. Then they are organized to construct the vertex of topological map using hidden Markov model. So localization problem can be transformed to the evaluation problem of HMM. In our system, the topological map of environment can be created online and the robot locates itself concurrently. Experiments show that higher ratio of vertex recognition, that is localization, is obtained. And our system can guarantee mobile robot navigation safely in unknown environments.
Citation:
Lu Wang, Yuling Li, Zixing Cai, "Topological Localization Based on Salient Regions in Unknown Environments," icpr, vol. 2, pp.369-372, 18th International Conference on Pattern Recognition (ICPR'06) Volume 2, 2006
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