Mobile Robot Localization Using Fusion of Object Recognition and Range Information

@article{Yim2007MobileRL,
  title={Mobile Robot Localization Using Fusion of Object Recognition and Range Information},
  author={Byung-Doo Yim and Yong-Ju Lee and Jae-Bok Song and Woojin Chung},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={3533-3538}
}
Most present localization algorithms are either range or vision-based. In many environments, only one type of sensor cannot often ensure successful localization; furthermore, using low-priced range sensors instead of expensive, but accurate, laser scanners often lead to poor performance. This paper proposes an MCL-based localization method that robustly estimates the robot pose with fusion of the range information from a low-cost IR scanner and the SIFT based visual information gathered using a… CONTINUE READING

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