WEKO3
アイテム
Real-Time Appearance-Based Monte Carlo Localization
http://hdl.handle.net/10228/2402
http://hdl.handle.net/10228/2402ca65b46e-7657-4322-8870-62bf86c99ae4
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
linakernew.pdf (2.2 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||
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| 公開日 | 2009-05-18 | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| タイトル | ||||||
| タイトル | Real-Time Appearance-Based Monte Carlo Localization | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 著者 |
Linaker, Fredrik
× Linaker, Fredrik× 石川, 眞澄 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | A new technique for vision processing is presented which lets a mobile robot equipped with an omnidirectional camera perform appearance-based global localization in real time. The technique is applied directly to the omnidirectional camera images, producing low-dimensional rotation invariant feature vectors without any training or set-up phase. Using the feature vectors, particle filters can accurately estimate the location of a continuously moving real robot, processing 5000 simultaneous localization hypotheses on-line. Estimated body positions overlap the actual ones in over 95% of the time steps. The feature vectors show a graceful degradation against increasing levels of simulated noise and occlusion. | |||||
| 書誌情報 |
Robotics and Autonomous Systems 巻 54, 号 3, p. 205-220, 発行日 2006-03-01 |
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| 出版社 | ||||||
| 出版者 | Elsevier | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1016/j.robot.2005.11.003 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 0921-8890 | |||||
| 著作権関連情報 | ||||||
| 権利情報 | Copyright © 2005 Elsevier Ltd All rights reserved. | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Appearance-based localization | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Omnidirectional vision | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Particle filters | |||||
| 出版タイプ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| 査読の有無 | ||||||
| 値 | yes | |||||
| 研究者情報 | ||||||
| URL | http://hyokadb02.jimu.kyutech.ac.jp/html/3_ja.html | |||||
| 連携ID | ||||||
| 値 | 2 | |||||
| 業績ID | ||||||
| 値 | 1C0ACB58549E744F492570A5002124EF | |||||
| 情報源 | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | http://www.sciencedirect.com/science/journal/09218890 | |||||
| 関連名称 | http://www.sciencedirect.com/science/journal/09218890 | |||||
