Active Vision-based Localization For Robots In A Home-Tour Scenario

  • Falk Schubert
  • Thorsten Spexard
  • Marc Hanheide
  • Sven Wachsmuth
Schlagworte: vision-based localization, active vision, holistic features, integrated systems, boosting, DDC: 004 (Data processing, computer science, computer systems)

Abstract

Self-Localization is a crucial task for mobile robots. It is not only a requirement for auto navigation but also provides contextual information to support human robot interaction (HRI). In this paper we present an active vision-based localization method for integration in a complex robot system to work in human interaction scenarios (e.g. _home-tour_) in a real world apartment. The holistic features used are robust to illumination and structural changes in the scene. The system uses only a single pan-tilt camera shared between different vision applications running in parallel to reduce the number of sensors. Additional information from other modalities (like laser scanners) can be used, profiting of an integration into an existing system. The camera view can be actively adapted and the evaluation showed that different rooms can be discerned.
Veröffentlicht
2007-12-31
Rubrik
The 5th International Conference on Computer Vision Systems