Visual localization using Bayesian decision fusion on omnidirectional sensing

Lucas Paletta; Simone Frintrop; Joachim Hertzberg

doi:10.1117/12.421125

22 March 2001 Visual localization using Bayesian decision fusion on omnidirectional sensing

Lucas Paletta, Simone Frintrop, Joachim Hertzberg

Proceedings Volume 4385, Sensor Fusion: Architectures, Algorithms, and Applications V; (2001) https://doi.org/10.1117/12.421125
Event: Aerospace/Defense Sensing, Simulation, and Controls, 2001, Orlando, FL, United States

Abstract

Omnidirectional visual sensors have been successfully introduced recently to robot navigation, providing improved localization performances and a more stable path following behavior. As a consequence of the sensor characteristics, occlusion of the entire panoramic visual field becomes very unlikely. The presented work exploits these characteristics providing a Bayesian framework to gain even partial evidence about a current location by applying decision fusion on the multidirectional visual context. The panoramic image is first partitioned into a fixed number of overlapping unidirectional camera views, i.e., appearance sectors. For each sector image one learns then a posterior distribution over potential locations within a predefined environment. The ambiguity in a local sector interpretation is then resolved by Bayesian reasoning over the spatial context of the current position, discriminating occlusions which do not fit to the appearance model of subsequent sector views. The results from navigation experiments in an office using a robot equipped with an omnidirectional camera demonstrate that the Bayesian reasoning allows highly occlusion tolerant localization to enable visual navigation of autonomous robots even at crowded places such as offices, factories and urban environments.

Citation Download Citation

Lucas Paletta, Simone Frintrop, and Joachim Hertzberg "Visual localization using Bayesian decision fusion on omnidirectional sensing", Proc. SPIE 4385, Sensor Fusion: Architectures, Algorithms, and Applications V, (22 March 2001); https://doi.org/10.1117/12.421125

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available