Scene Recognition for Robot Localization in Difficult Environments

Autor:	Adrián Canedo-Rodriguez, Xosé M. Pardo, Roberto Iglesias, D. Santos-Saavedra, Carlos V. Regueiro
Rok vydání:	2015
Předmět:	Noise Modalities Robot localization Computer science business.industry Robot Mobile robot Robotics Computer vision Artificial intelligence Localization system business
Zdroj:	Lecture Notes in Computer Science ISBN: 9783319188324 IWINAC (2)
DOI:	10.1007/978-3-319-18833-1_21
Popis:	Scene understanding is still an important challenge in robotics. In this paper we analyze the utility of scene recognition to determine the localization of a robot. We assume that multi-sensor localization systems may be very useful in crowded environments where there will be many people around the robot but not many changes of the furniture. In our localization system we categorize the sensors in two groups: accurate sensor models able to determine the pose of the robot accurately but which are sensible to noise or the presence of people. Robust sensor modalities able to provide rough information about the pose of the robot in almost any condition. The performance of our localization strategy was analyzed through two experiments realized in the Centro Singular de Investigacion en Tecnoloxias da Informacion (CITIUS), at the University of Santiago de Compostela.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a2b4a63e704dd4bd3197f53588c8b829 https://doi.org/10.1007/978-3-319-18833-1_21 Zobrazit plný text záznamu