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《Journal of Zhejiang University(Engineering Science)》 2014-02
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Assistance localization method for mobile robot based on monocular natural visual landmarks

CHEN Ming-ya;XIANG Zhi-yu;LIU Ji-lin;Department of Information Science and Electronic Engineering,Zhejiang University;Zhejiang Provincial Key Laboratory of Information Network Technology;  
In many occasions GPS signal may be blocked,leading the quick drop of the positioning accuracy for the robot.We present an assistance localization method for mobile robot based on the monocular natural visual landmarks.A landmark library containing the images from several scenes of the environment was set up before navigation.Each acquired image was matched with the visual landmarks while navigation,where INS positioning was used for rough localization.A fast image matching framework based on combining usage of GIST global features and SURF local features was presented.The Orientation was corrected from Structure From Motion algorithm as well.Finally a Kalman Filter was used to fuse the localization results from visual landmarks and the INS method.The results show that the proposed method improves the positioning accuracy under GPS blocked area and makes the system more robust.
【Fund】: 国家自然科学基金项目(61071219)
【CateGory Index】: TP242.6
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