Visual location awareness for mobile robots using feature-based vision
Date
2010
Authors
Kazeka, Alexander, author
Draper, Bruce A. (Bruce Austin), 1962-, advisor
Maciejewski, Anthony A., committee member
Anderson, Charles W., committee member
Journal Title
Journal ISSN
Volume Title
Abstract
This thesis presents an evaluation of feature-based visual recognition paradigm for the task of mobile robot localization. Although many works describe feature-based visual robot localization, they often do so using complex methods for map-building and position estimation which obscure the underlying vision systems' performance. One of the main contributions of this work is the development of an evaluation algorithm employing simple models for location awareness with focus on evaluating the underlying vision system. While SeeAsYou is used as a prototypical vision system for evaluation, the algorithm is designed to allow it to be used with other feature-based vision systems as well. The main result is that feature-based recognition with SeeAsYou provides some information but is not strong enough to reliably achieve location awareness without the temporal context. Adding a simple temporal model, however, suggests a more reliable localization performance.
Description
Department Head: L. Darrell Whitley.