Abstract
Mobile robots need an internal representation of their environment to do useful things. Usually such a representation is some sort of geometric model. For our robot, which is equipped with a panoramic vision system, we choose an appearance model in which the sensoric data (in our case the panoramic images) have to be modeled as a function of the robot position. Because images are very high-dimensional vectors, a feature extraction is needed before the modeling step. Very often a linear dimension reduction is used where the projection matrix is obtained from a Principal Component Analysis (PCA). PCA is optimal for the reconstruction of the data, but not necessarily the best linear projection for the localization task. We derived a method which extracts linear features optimal with respect to a risk measure re.ecting the localization performance. We tested the method on a real navigation problem and compared it with an approach where PCA features were used.
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© 2002 Springer-Verlag Berlin Heidelberg
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Kröse, B.J.A., Vlassis, N., Bunschoten, R. (2002). Omnidirectional Vision for Appearance-Based Robot Localization. In: Hager, G.D., Christensen, H.I., Bunke, H., Klein, R. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science, vol 2238. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45993-6_3
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DOI: https://doi.org/10.1007/3-540-45993-6_3
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