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Building Beliefs: Unsupervised Generation of Observation Likelihoods for Probabilistic Localization in Changing Environments
The ARC Australian Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, Australia . (AASS MRO Lab)
The ARC Australian Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, Australia.
2015 (English)In: IEEE International Conference on Intelligent Robots and Systems (IROS), IEEE, 2015, New York, USA: IEEE, 2015, p. 3071-3078Conference paper, Published paper (Refereed)
Abstract [en]

This paper is concerned with the interpretation of visual information for robot localization. It presents a probabilistic localization system that generates an appropriate observation model online, unlike existing systems which require pre-determined belief models. This paper proposes that probabilistic visual localization requires two major operating modes - one to match locations under similar conditions and the other to match locations under different conditions. We develop dual observation likelihood models to suit these two different states, along with a similarity measure-based method that identifies the current conditions and switches between the models. The system is experimentally tested against different types of ongoing appearance change. The results demonstrate that the system is compatible with a wide range of visual front-ends, and the dual-model system outperforms a single-model or pre-trained approach and state-of-the-art localization techniques.

Place, publisher, year, edition, pages
New York, USA: IEEE, 2015. p. 3071-3078
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-46998DOI: 10.1109/IROS.2015.7353801ISI: 000371885403035ISBN: 978-1-4799-9994-1 (print)OAI: oai:DiVA.org:oru-46998DiVA, id: diva2:877962
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 29 Sep - 2 Oct, 2015
Available from: 2015-12-08 Created: 2015-12-08 Last updated: 2018-01-10Bibliographically approved

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Lowry, Stephanie

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf