Biologically-inspired robotics vision monte-carlo localization in the outdoor environment

  title={Biologically-inspired robotics vision monte-carlo localization in the outdoor environment},
  author={Christian Siagian and Laurent Itti},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
We present a robot localization system using biologically-inspired vision. Our system models two extensively studied human visual capabilities: (1) extracting the "gist" of a scene to produce a coarse localization hypothesis, and (2) refining it by locating salient landmark regions in the scene. Gist is computed here as a holistic statistical signature of the image, yielding abstract scene classification and layout. Saliency is computed as a measure of interest at every image location… CONTINUE READING
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