ICRA Conference 2003 Conference Paper
Mobile robot self-localization based on global visual appearance features
- Chao Zhou
- Yucheng Wei
- Tieniu Tan
The paper presents a novel method for mobile robot localization using visual appearance features. A multidimensional histogram is used to describe the global appearance features of an image such as colors, edge density, gradient magnitude, textures and so on. The matching of histograms determines the location of the robot. The method has been evaluated in an indoor environment, and the system correctly determines the location of 82. 9% of the input scene images.