完整後設資料紀錄
DC 欄位語言
dc.contributor.authorTseng, Shih-Huan
dc.contributor.authorPeng, Yu-An
dc.contributor.authorYu, Jia-Yuan
dc.contributor.authorFu, Li-Chen
dc.contributor.authorWang, Shyh-Roei
dc.date.accessioned2011-03-31T22:54:38Z
dc.date.accessioned2020-05-18T03:22:28Z-
dc.date.available2011-03-31T22:54:38Z
dc.date.available2020-05-18T03:22:28Z-
dc.date.issued2011-03-31T22:54:38Z
dc.date.submitted2009-11-27
dc.identifier.urihttp://dspace.lib.fcu.edu.tw/handle/2377/30233-
dc.description.abstractIn this paper, we propose a method to make the mobile robots building a vision-based hierarchical map and then quickly localizing itself by this map. The top-level map is a topological map which consists of “Places”. Topological map is represented through the graph and suitable for the large-scale environments. In this map, the vertices comprise some visual information for efficiently and robustly identifying the “Places” of the robot’s environment and the edges denote the spatial rela-tion between these “Places”. The visual information con-sists of the characteristics of segments and SIFT features. The former indexes “Place” coarsely and the latter is with the capability of indentifying the position within the cur-rent Place finely. When localizing itself, we merely com-pute the similarity by voting corresponding SIFT features between current information and the vertices indexed with the similar characterization of segments. This locali-zation is efficient because of the low time complexity of characterization of segments and the few candidates of the sets of SIFT features. In the other aspect, the scale, orien-tation and illumination invariant of SIFT features make this localization robust.
dc.description.sponsorshipNational Taipei University,Taipei
dc.format.extent7p.
dc.relation.ispartofseriesNCS 2009
dc.subjectmonocular
dc.subjectvision
dc.subjectglobal localization
dc.subjectin-door
dc.subjecthierarchical
dc.subject.otherWorkshop on Image Processing, Computer Graphics, and Multimedia Technologies
dc.titleVision-based Global Localization of Large-Scale Indoor Environments with Hierarchical Map
分類:2009年 NCS 全國計算機會議

文件中的檔案:
檔案 描述 大小格式 
ICM 1-3.pdf480.9 kBAdobe PDF檢視/開啟


在 DSpace 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。