Mobile Robot Localization using Planar Patches and a Stereo Panoramic Model

Abstract

This paper presents a new type of image-based map for robot navigation formed by panoramic models enriched with depth and 3D planarity information. We take advantage of the scene geometry implicitly contained in the model to localize a mobile robot that is moving in the same environment. The novelty of this model compared to the existing imagebased maps is… (More)

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