Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization

  title={Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization},
  author={Frank Dellaert and Wolfram Burgard and Dieter Fox and Sebastian Thrun},
To navigate reliably in indoor environments, a mobile robot must know where it is. This includes both the ability of globally localizing the robot from scratch, as well as tracking the robot’s position once its location is known. Vision has long been advertised as providing a solution to these problems, but we still lack efficient solutions in unmodified environments. Many existing approaches require modification of the environment to function properly, and those that work within unmodified… CONTINUE READING
Highly Influential
This paper has highly influenced 10 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 322 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 197 extracted citations

Vision-Based Global Localization Using Ceiling Space Density

2018 IEEE International Conference on Robotics and Automation (ICRA) • 2018
View 18 Excerpts
Highly Influenced

A Visual Based Extended Monte Carlo Localization for Autonomous Mobile Robots

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2006
View 5 Excerpts
Highly Influenced

Visual sonar based localization using particle attraction and scattering

IEEE International Conference Mechatronics and Automation, 2005 • 2005
View 9 Excerpts
Highly Influenced

Robotic system for reactive navigation in dynamic environments

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers • 2011
View 3 Excerpts
Highly Influenced

323 Citations

Citations per Year
Semantic Scholar estimates that this publication has 323 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 35 references

CONDENSATION—Conditional Density Propagation for Visual Tracking

International Journal of Computer Vision • 1998
View 5 Excerpts
Highly Influenced

Active Markov localization for mobile robots

Robotics and Autonomous Systems • 1998
View 1 Excerpt


D. Kortenkamp, R. P. Bonasso, R. Murphy
AI-based Mobile Robots: Case studies of successful robot systems , Cambridge, MA • 1998
View 1 Excerpt

An improvedp article filter for non-linear problems

J. Carpenter, P. Clifford, P. Fernhead
Technical report, Department of S tatistics, University of Oxford • 1997
View 2 Excerpts

Similar Papers

Loading similar papers…