A monocular vision based localizer

Zhang, Z; Kodagoda, KRS

A monocular vision based localizer

Zhang, Z Kodagoda, KRS

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005, 2005
Issue Date:: 2005-12-01

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Field	Value	Language
dc.contributor.author	Zhang, Z	en_US
dc.contributor.author	Kodagoda, KRS https://orcid.org/0000-0001-5175-9138	en_US
dc.date.issued	2005-12-01	en_US
dc.identifier.citation	Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005, 2005	en_US
dc.identifier.isbn	0958758379	en_US
dc.identifier.isbn	9780958758376	en_US
dc.identifier.uri	http://hdl.handle.net/10453/7147
dc.description.abstract	Utilization of low cost sensing is feasible in office like environments due to the regular man made structures. In this paper, we presented an algorithm, which exploits floor boundaries as a feature for robot localization. A colour based floor detection technique along with laser-like scan generation algorithm is proposed for feature extraction. Then an AMCL based localizer is used for robot localization. Experimental results in an office like environment shows the feasibility of the monocular vision based localization.	en_US
dc.relation.ispartof	Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005	en_US
dc.title	A monocular vision based localizer	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Sydney, Australia	en_US
dc.location.activity	Cario, Egypt
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Utilization of low cost sensing is feasible in office like environments due to the regular man made structures. In this paper, we presented an algorithm, which exploits floor boundaries as a feature for robot localization. A colour based floor detection technique along with laser-like scan generation algorithm is proposed for feature extraction. Then an AMCL based localizer is used for robot localization. Experimental results in an office like environment shows the feasibility of the monocular vision based localization.

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http://hdl.handle.net/10453/7147