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Object-based Place Recognition for Mobile Robots Using Panoramas

AuthorsRibes, Arturo ; Ramisa, Arnau ; López de Mántaras, Ramón ; Toledo, Ricardo
KeywordsArtificial intelligence
Object recognition
Robot localization
Mobile robots
Issue Date2008
PublisherIOS Press
CitationArtificial Intelligence Research and Development, Proceedings of the 11 th International Conference of the Catalan Association for Artificial Intelligence, (CCIA 2008), Sant Marti d'Empuries, Girona, October 22-24. Frontiers in Artificial Intelligence and Applications, IOS Press Vol. 184 (2008) pp. 388-397.
AbstractObject recognition has been widely researched for several decades and in the recent years new methods capable of general object classification have appeared. However very few work has been done to adapt these methods to the challenges raised by mobile robotics. In this article we discuss the data sources (appearence information, temporal context, etc.) that such methods could use and we review several state of the art object recognition methods that build in one or more of these sources. Finally we run an object based robot localization experiment using an state of the art object recognition method and we show that good results are obtained even with a naïve place descriptor.
DescriptionThe original publication is available at http://www.booksonline.iospress.nl/Content/View.aspx?piid=10600
Appears in Collections:(IIIA) Comunicaciones congresos
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