Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images. (17th September 2015)

• Record Type: Journal Article
• Authors: Kim, Sungho; Shim, Min-Sheob
• Other Names: Tang Jinhui Academic Editor.
• Is Part Of: TheScientificWorldjournal. Volume 2015(2015)
• Publication Date: 2015-09-17
• Subjects: Science -- Periodicals; Technology -- Periodicals; Medicine -- Periodicals; 505
• DOI: 10.1155/2015/465290
• Languages: English
• ISSNs: 2356-6140

Abstract

Abstract : This paper presents the novel paradigm of a global localization method motivated by human visual systems (HVSs). HVSs actively use the information of the object recognition results for self-position localization and for viewing direction. The proposed localization paradigm consisted of three parts: panoramic image acquisition, multiple object recognition, and grid-based localization. Multiple object recognition information from panoramic images is utilized in the localization part. High-level object information was useful not only for global localization, but also for robot-object interactions. The metric global localization (position, viewing direction) was conducted based on the bearing information of recognized objects from just one panoramic image. The feasibility of the novel localization paradigm was validated experimentally.