Textured Occupancy Grids for Monocular Localization Without Features
A textured occupancy grid map is an extremely versatile data structure. It can be used to render humanreadable views and for laser rangefinder localization algorithms. For camera-based localization, landmark or featurebased maps tend to be favored in current research. This may be because of a tacit assumption that working with a textured occupancy grid with a camera would be impractical. We demonstrate that a textured occupancy grid can be combined with an extremely simple monocular localization algorithm to produce a viable localization solution. Our approach is simple, efficient, and produces localization results comparable to laser localization results. A consequence of this result is that a single map representation, the textured occupancy grid, can now be used for humans, robots with laser rangefinders, and robots with just a single camera.
Julian Mason Susanna Ricco Ronald Parr
Department of Computer Science,Duke University,Box 90129,Durham NC 27708
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5800-5806
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）