Abstract
Mobile robot localization in outdoor is difficult because of environmental change such as sunlight intensity, moving obstacles layout, etc. In this article, questionnaire study on human ability of environmental recognition was carried out and its results were applied to mobile robot localization. The result of questionnaire shows that a human relies on globally visual information such as landscape rather than information of landmarks such as signboards. Based on the result, a view-based localization method using GIST features was proposed. GIST is known to represent well the overview of outdoor scene. A capture scene image is compared all registered template images in terms of GIST, e.g., the template image, of which L2 norm of GIST between input image is minimum, is successively searched. Then, the robot is localized so as that it exists in the neighborhood of known place where the template image was captured. Experimental result in the university campus showed the good potential of proposed method to localize a mobile robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
