Autonomous Mobile Robot Localization and Navigation Using a Hierarchical Map Representation Primarily Guided by Vision

@article{Siagian2014AutonomousMR,
  title={Autonomous Mobile Robot Localization and Navigation Using a Hierarchical Map Representation Primarily Guided by Vision},
  author={Christian Siagian and Chin-Kai Chang and Laurent Itti},
  journal={J. Field Robotics},
  year={2014},
  volume={31},
  pages={408-440}
}
While impressive recent progress has been achieved with autonomous vehicles both indoors and on streets, autonomous localization and navigation in less constrained and more dynamic environments, such as outdoor pedestrian and bicycle-friendly sites, remains a challenging problem. We describe a new approach that utilizes several visual perception modules — place recognition, landmark recognition, and road lane detection — supplemented by proximity cues from a planar Laser Range Finder for… CONTINUE READING

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