A model to image straight line matching method for vision-based indoor mobile robot self-location.
Omar Ait-AiderPhilippe HoppenotEtienne CollePublished in: IROS (2002)
Keyphrases
- matching scheme
- straight line
- reconstruction method
- template matching
- hough transform
- segmentation method
- similarity measure
- line detection
- multiscale
- energy function
- mobile robot
- vanishing points
- image matching
- image set
- matching process
- test images
- feature matching
- keypoints
- intersection points
- location and orientation
- image regions
- single image
- vertical lines
- gray value
- edge detection
- geometric constraints
- fingerprint images
- image features
- matching score
- topological map
- image compression
- feature points
- pattern matching