Coarse-to-fine global localization for mobile robots with hybrid maps of objects and spatial layouts.
Soonyong ParkHowon CheongSung-Kee ParkPublished in: IROS (2009)
Keyphrases
- coarse to fine
- mobile robot
- map building
- multiscale
- multiresolution
- hierarchical segmentation
- image registration
- object detection
- spatial relations
- spatial relationships
- object localization
- dynamic programming
- image pyramid
- spatial information
- coarse scale
- hierarchical representation
- robot navigation
- path planning
- spatial data
- matching scheme
- active shape model
- mobile robot localization
- scan line
- multi view face detection
- object categories
- multi robot
- pairwise