Self-localization of a mobile robot using fast normalized cross correlation

  title={Self-localization of a mobile robot using fast normalized cross correlation},
  author={Kai Briechle and Uwe D. Hanebeck},
  journal={IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028)},
  pages={720-725 vol.4}
  • K. Briechle, U. Hanebeck
  • Published 12 October 1999
  • Computer Science
  • IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028)
A self-localization concept for a mobile robot is presented, which is based on angle measurements to both known and unknown landmarks. The main contributions of the paper are the following: a fast normalized cross correlation algorithm (NCC) that uses a sum expansion of the template function and tables containing the integral over the image function (running sum) to detect the landmarks; and a linear solution for the relative position and orientation update of the robot using angle measurements… 

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