Image processing techniques in vision-based robot navigation

Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni

doi:10.1109/ICCAIRO.2018.00036

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Munguía Alcalá, Rodrigo Francisco

Bolea Monte, Yolanda

Grau Saldes, Antoni

Document typeConference report

Defense date2019

PublisherInstitute of Electrical and Electronics Engineers (IEEE)

Rights accessRestricted access - publisher's policy

Abstract

Motivated by the problems of vision-based mobile robot map building and localization, we present a comparative study of statistical methods for matching image features in a wide base line between learning and recognition phases. A general methodology called feature-class method for the problem of fast matching image features in a wide base line is described in the context of mobile robots. The objective of this work is to discuss and to show the performance of such methods in an example of visual SLAM, with experiments done with real data.

CitationMunguia, R.F.; Bolea, Y.; Grau, A. Image processing techniques in vision-based robot navigation. A: International Conference on Control, Artificial Intelligence, Robotics and Optimization. "2018 International Conference on Control, Artificial Intelligence, Robotics & Optimization (ICCAIRO)". Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 171-176.

URIhttp://hdl.handle.net/2117/133619

DOI10.1109/ICCAIRO.2018.00036

ISBN978-1-5386-9576-0

Publisher versionhttps://ieeexplore.ieee.org/document/8698399

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