Mobile robot self-localization based on global visual appearance features

This paper presents a novel method for mobile robot localization using visual appearance features. A multidimensional-histogram is used to describe the global appearance features of an image such as colors, edge density, gradient magnitude, textures and so on. The matching of histograms determines the location of the robot. The method has been evaluated in an indoor environment, and the system correctly determines the localization of 82.9% of the input scene images.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Chao Zhou, Yucheng Wei, Tieniu Tan
• Keywords: Appearance Features, ICRA 2003, Mobile Robot Localization, Robotics, Visual Appearance Features