Semantics for UGV Registration in GPS-denied Environments

@article{Christie2016SemanticsFU,
  title={Semantics for UGV Registration in GPS-denied Environments},
  author={Gordon Christie and Garrett Warnell and Kevin Kochersberger},
  journal={CoRR},
  year={2016},
  volume={abs/1609.04794}
}
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned ground vehicle (UGV) the ability to localize itself within a 2.5D aerial map generated from imagery captured by a low-flying unmanned aerial vehicle (UAV). We consider the scenario where GPS is unavailable and appearance-based scene changes may have occurred… CONTINUE READING
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