dc.contributor.author |
Yuen, David |
en |
dc.contributor.author |
MacDonald, Bruce |
en |
dc.date.accessioned |
2006-11-30T20:56:47Z |
en |
dc.date.available |
2006-11-30T20:56:47Z |
en |
dc.date.issued |
2005 |
en |
dc.identifier.citation |
IEEE Transactions on Robotics 21(2), 217-226. 2005 |
en |
dc.identifier.issn |
1552-3098 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/251 |
en |
dc.description |
An open access copy of this article is available and complies with the copyright holder/publisher conditions. |
en |
dc.description.abstract |
Many generic position-estimation algorithms are vulnerable to ambiguity introduced by nonunique landmarks. Also, the available high-dimensional image data is not fully used when these techniques are extended to vision-based localization. This paper presents the landmark matching, triangulation, reconstruction, and comparison (LTRQ global localization algorithm, which is reasonably immune to ambiguous landmark matches. It extracts natural landmarks for the (rough) matching stage before generating the list of possible position estimates through triangulation. Reconstruction and comparison then rank the possible estimates. The LTRC algorithm has been implemented using an interpreted language, onto a robot equipped with a panoramic vision system. Empirical data shows remarkable improvement in accuracy when compared with the established random sample consensus method. LTRC is also robust against inaccurate map data. |
en |
dc.publisher |
IEEE |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from http://www.sherpa.ac.uk/romeo/issn/1552-3098/ |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.source.uri |
http://dx.doi.org/10.1109/TRO.2004.835452 |
en |
dc.title |
Vision-based localization algorithm based on landmark matching, triangulation, reconstruction, and comparison |
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dc.type |
Journal Article |
en |
dc.identifier.doi |
10.1109/TRO.2004.835452 |
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dc.description.version |
VoR - Version of Record |
en |
dc.rights.holder |
Copyright: IEEE 2005. |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/OpenAccess |
en |