Vision-based global localization for mobile robots using an object and spatial layout-based hybrid map.
Soonyong ParkSung-Kee ParkPublished in: ICAR (2009)
Keyphrases
- spatial layout
- mobile robot
- indoor environments
- map building
- scene recognition
- object classes
- path planning
- topological map
- dynamic environments
- simultaneous localization and mapping
- vision system
- robotic systems
- bag of words
- moving objects
- co occurrence
- low level
- video sequences
- object recognition
- scene understanding
- bounding box
- body parts
- learning algorithm
- object tracking
- maximum likelihood