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Accurate Local Positioning using Visual Landmarks from a Panoramic Sensor

Thompson, S.; Zelinsky, Alex


This paper presents a method for representing places using a set of visual landmarks from a panoramic sensor that allows for accurate local positioning while still providing efficient global localisation. For each place landmarks are selected for their local uniqueness in the panoramic visual field and their dynamic reliability over a Turn Back and Look movement. During this movement, the depth of landmarks is also estimated using a bearing only SLAM approach. Accurate local position tracking...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Conference paper
Source: Proceedings of the 2002 IEEE International Conference on Robotics and Automation


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