10.5281/zenodo.1062474
https://zenodo.org/records/1062474
oai:zenodo.org:1062474
Xing Xiong
Xing Xiong
Byung-Jae Choi
Byung-Jae Choi
Estimation of Relative Self-Localization Based On Natural Landmark and an Improved SURF
Zenodo
2013
Relative Self-Localization Posture
SURF
Natural Landmark
Interest Point.
2013-01-25
eng
10.5281/zenodo.1062473
https://zenodo.org/communities/waset
6206
Creative Commons Attribution 4.0 International
It is important for an autonomous mobile robot to know
where it is in any time in an indoor environment. In this paper, we
design a relative self-localization algorithm. The algorithm compare
the interest point in two images and compute the relative displacement
and orientation to determent the posture. Firstly, we use the SURF
algorithm to extract the interest points of the ceiling. Second, in order
to reduce amount of calculation, a replacement SURF is used to extract
orientation and description of the interest points. At last, according to
the transformation of the interest points in two images, the relative
self-localization of the mobile robot will be estimated greatly.