Kronfeld, Marcel and Weiss, Christian and Zell, Andreas

Swarm-supported Outdoor Localization with Sparse Visual Data

Robotics and Autonomous Systems. Selected papers from the 2007 European Conference on Mobile Robots (ECMR 2007) vol. 58 (2010), no. 2, pp. 166-173


Abstract

The localization of mobile systems with video data is a challenging field in robotic vision research. Apart from support technologies like GPS, a self-sufficient visual system is desirable. We introduce a new heuristic approach to outdoor localization in a scenario with sparse visual data and without odometry readings. Localization is interpreted as an optimization problem, and a swarm-based optimization method is adapted and applied, remaining independent of the specific visual feature type. The new method obtains similar or better localization results in our experiments while requiring only two-thirds of the number of image comparisons, indicating an all-over speed-up by 25%.


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BibTeX

@article{Kron10LocRAS,
  author = {Kronfeld, Marcel and Weiss, Christian and Zell, Andreas},
  title = {Swarm-supported Outdoor Localization with Sparse Visual Data},
  journal = {Robotics and Autonomous Systems. Selected papers from the 2007 European
	Conference on Mobile Robots (ECMR 2007)},
  year = {2010},
  volume = {58},
  pages = {166-173},
  number = {2},
  month = feb,
  abstract = {The localization of mobile systems with video data is a challenging
	field in robotic vision research. Apart from support technologies
	like GPS, a self-sufficient visual system is desirable. We introduce
	a new heuristic approach to outdoor localization in a scenario with
	sparse visual data and without odometry readings. Localization is
	interpreted as an optimization problem, and a swarm-based optimization
	method is adapted and applied, remaining independent of the specific
	visual feature type. The new method obtains similar or better localization
	results in our experiments while requiring only two-thirds of the
	number of image comparisons, indicating an all-over speed-up by 25%.},
  doi = {10.1016/j.robot.2009.09.012},
  keywords = {Outdoor robotics; Robot vision; Visual localization; Swarm intelligence;
	Particle swarm optimization},
  pdf = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/Kron09SwarmSupp.pdf},
  url = {http://www.sciencedirect.com/science/article/B6V16-4X908T5-3/2/559434e23a220afad0b33d51ed559198}
}