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Erschienen in:
2013 | OriginalPaper | Buchkapitel
A Robust Place Recognition Algorithm Based on Omnidirectional Vision for Mobile Robots
verfasst von : Huimin Lu, Kaihong Huang, Dan Xiong, Xun Li, Zhiqiang Zheng
Erschienen in: RoboCup 2012: Robot Soccer World Cup XVI
Verlag: Springer Berlin Heidelberg
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In this paper, bag-of-features, a popular and successful approach in pattern recognition community, is used to realize place recognition based on omnidirectional vision for mobile robots by combining the real-time local visual features proposed by ourselves for omnidirectional vision and support vector machines. The panoramic images from the COLD database were used to perform experiments to determine the best algorithm parameters and the best training condition. The experimental results show that the robot can realize robust place recognition with high classification rate in real-time by using our algorithm.