Global localization and relative positioning based on scale-invariant keypoints

2005 ◽  
Vol 52 (1) ◽  
pp. 27-38 ◽  
Author(s):  
Jana Košecká ◽  
Fayin Li ◽  
Xialong Yang
Keyword(s):  
Relative Positioning ◽  
Global Localization ◽  
Scale Invariant

scholarly journals Cooperative Exploration by Multi-Robots without Global Localization

10.5772/5682 ◽  
2007 ◽  
Vol 4 (3) ◽  
pp. 36 ◽  
Author(s):  
Shi Chao-xia ◽  
Hong Bing-rong ◽  
Wang Yan-qing
Keyword(s):  
Reference Frame ◽  
Mobile Robotics ◽  
Fundamental Problem ◽  
Global Localization ◽  
Scale Invariant ◽  
Topological Map ◽  
Invariant Features ◽  
Unknown Environments ◽  
Efficient Exploration ◽  
Cooperative Exploration

Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We propose a novel topological map whose nodes are represented with the range finder's free beams together with the visual scale-invariant features. The topological map enables teams of robots to efficiently explore environments from different, unknown locations without knowing their initial poses, relative poses and global poses in a certain world reference frame. The experiments of map merging and coordinated exploration demonstrate the proposed map is not only easy for merging, but also convenient for robust and efficient explorations in unknown environments.

High-Precision and High-Robustness Global Localization for Rail Robots

ROBOT ◽  
2013 ◽  
Vol 35 (5) ◽  
pp. 623 ◽  
Author(s):  
Hengbo TANG ◽  
Weidong CHEN ◽  
Jingchuan WANG ◽  
Shuai LIU ◽  
Guobo LI ◽  
...  
Keyword(s):  
High Precision ◽  
Global Localization

Scale-Invariant Theory of Optical Properties of Fractal Clusters

1990 ◽  
Author(s):  
Vadim A. Markel ◽  
Leonid S. Muratov ◽  
Mark I. Stockman ◽  
Thomas F. George
Keyword(s):  
Optical Properties ◽  
Invariant Theory ◽  
Scale Invariant ◽  
Fractal Clusters

Best Matching: Technical Details

2018 ◽  
Author(s):  
Flavio Mercati
Keyword(s):  
Point Particle ◽  
Euclidean Group ◽  
Scale Invariant ◽  
Similarity Group ◽  
N Body Problem ◽  
Technical Details ◽  
Matching Procedure ◽  
Principal Fibre ◽  
Principal Fibre Bundle ◽  
Gauge Connection

The best matching procedure described in Chapter 4 is equivalent to the introduction of a principal fibre bundle in configuration space. Essentially one introduces a one-dimensional gauge connection on the time axis, which is a representation of the Euclidean group of rotations and translations (or, possibly, the similarity group which includes dilatations). To accommodate temporal relationalism, the variational principle needs to be invariant under reparametrizations. The simplest way to realize this in point–particle mechanics is to use Jacobi’s reformulation of Mapertuis’ principle. The chapter concludes with the relational reformulation of the Newtonian N-body problem (and its scale-invariant variant).

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