Hashem Tamimi, Alaa Halawani, Hans Burkhardt and Andreas Zell

Using Descriptive Image Features for Global Localization of Mobile Robots

In Proc. of the 19th Autonomous Mobile Systems (AMS), Stuttgart, Germany, December 8-9, 2005.



Abstract

In this paper descriptive visual features based on Haar-integral invariants are proposed to solve the global localization of indoor mobile robots. These descriptive features are locally extracted by applying a set of non-linear kernel functions around a set of interest points in the image. To investigate the approach thoroughly, we use a set of images taken by re-assigning the robot position many times near a set of reference locations. Also, the presence of illumination variations is encountered many times in the images. Compared to a well-known approach, our approach has better localization rate with moderate computational overhead.

Download

[pdf]


Bibtex

@INPROCEEDINGS{Tamimi05-ams, 
AUTHOR = "Hashem {Tamimi} and Alaa {Halawani} and Hans {Burkhardt} and Andreas {Zell}
TITLE = "Using Descriptive Image Features for Global Localization of Mobile Robots ",
BOOKTITLE= "In Proc. of the 19th Autonomous Mobile Systems (AMS)",
ADDRESS ="Stuttgart, Germany",
YEAR = "2005"
}