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- W2323346027 abstract "In this paper, we present a novel method to localize a robot throughout its navigation path using a stereo camera. We first estimate the 3D locations of the feature points in the images using the partial depth estimation technique and compute the motion estimate among the set of subsequent images. Then those motion estimates are filtered using a particle filter method in order to minimize the error in the motion estimates and reliably localize the moving robot. In the partial depth estimation technique, we determine the disparity of the feature points between the stereo images and estimate the depth of the feature points. The main novelty of the paper is the formulation of a vision based localization algorithm which combines the partial depth estimation and particle filter techniques. Experiments were conducted on mobile robots and the obtained localization results are analysed." @default.
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- W2323346027 date "2014-01-01" @default.
- W2323346027 modified "2023-09-26" @default.
- W2323346027 title "Stereo Vision based Localization of a Robot using Partial Depth Estimation and Particle Filter" @default.
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- W2323346027 doi "https://doi.org/10.3182/20140824-6-za-1003.01599" @default.
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