This paper addresses the problem of mobile robot localization in urban environments. apically, GPS is the prefemd sewor for outdoor opemtion. However, using GPS-only lodization methods leads to significant performance degradation in urban areus where toll nearby structures obstruct the clear view of the satellites. In our work, we use vision-based techniques to supplement GPS and odometry and provide accurate localization. The vision system identifies prominent linear features in the scene and matches them with a reduced model of nearby buildings, yielding improved pose estimation of the mbot.
Georgiev and Allen REF have used vision-based techniques to supplement GPS and odometry.
Vision for mobile robot localization in urban environments
IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science