書誌事項
- タイトル別名
-
- A View-Based Outdoor Localization Using Object and Location Recognition Based on Support Vector Learning
- SVM ニ ヨル ブッタイ ト イチ ノ シカク ガクシュウ ニ モトズク オクガイ イドウ ロボット ノ イチ スイテイ
この論文をさがす
抄録
This paper describes a view-based localization method using support vector machines in outdoor environments. We have been developing a two-phase vision-based navigation method. In the training phase, the robot acquires image sequences along the desired route and automatically learns the route visually. In the subsequent autonomous navigation phase, the robot moves by localizing itself based on the comparison between input images and the learned route representation. Our previous localization method uses an object recognition method which is robust to changes of weather and the seasons; however it has many parameters and threshold values to be manually adjusted. This paper, therefore, applies a support vector machine (SVM) algorithm to this object recognition problem. SVM is also applied to discriminating locations based on the recognition results. In addition, to cope with image shifts caused by the variation of the robot's heading, we use a panoramic camera; we search the panoramic image for the region which matches the model image best. This two-stage SVM-based localization approach with a panoramic camera exhibits a considerable localization performacne for real outdoor image data without any manual adjustment of parameters and threshold values.
収録刊行物
-
- 日本ロボット学会誌
-
日本ロボット学会誌 25 (5), 792-798, 2007
一般社団法人 日本ロボット学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001204726262272
-
- NII論文ID
- 10019583871
-
- NII書誌ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
-
- NDL書誌ID
- 8891134
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可