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Publication type: Article
Author: U. Frese, M. Hörmann, B. Bäuml, G. Hirzinger
Title: Globally Consistent Visual Localization without a-priori Map (German)
Volume: 3
Page(s): 273 – 280
Journal: automatisierungstechnik
Year published: 2000
Abstract: We present a method that can be used as one module of a mobile robots visual localization system for estimating the robots position without using an a-priori map. It builds a network of uncertain spatial relations using odometry and angular measurements between the robot and certain landmarks, which have to be provided by a visual landmark recognition module that is not covered by this article. The network is modelled as a graph, where each edge represents an uncertain spatial relation and, the uncertainty being denoted set based using ellipsoids and hyperboloids. This method solves the consistency problem of large scale autonomous mapping.
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/at600frese.pdf
Keywords: Simultaneous Localization and Mapping SLAM mopbile robot navigation covariance intersection set based uncertainty
Note / Comment: (german)
Status: Reviewed
Last updated: 28. 10. 2008

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