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- W2135821252 abstract "After achieving many goals in indoor robot navigation the focus of research is shifting to outdoor applications. This poses a new challenge since outdoor environments do not only lack the presence of mainly straight and close in range walls as can be found in indoor office environments but also come up with more dynamic lighting conditions. Thus localising the robot in its environment becomes a greater challenge. On the other hand robots can have the advantage of an additional sensory input the Global Positioning System (GPS) receiver which measures a global position of the robot and is not applicable indoors. Though it has a bounded error, the GPS position estimate can not be exclusively used for robot localisation since it is prone to jumps in precision and might include an offset over longer periods of time because of multipath reflections from buildings or trees. Therefore we use a visual localisation system which was made robust to changes in illumination and sensor occlusion. Our robot platform is a three-wheeled vehicle equipped with an omnidirectional camera as well as a low-cost GPS receiver, a laser range finder, sonar sensors and an inertial odometry measurement unit (see Figure 2(a))." @default.
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- W2135821252 date "2007-01-01" @default.
- W2135821252 modified "2023-10-17" @default.
- W2135821252 title "Appearance-based visual localisation in outdoor environments with an omnidirectional camera" @default.
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