Difference between revisions of "Vision-based Navigation and Manipulation"
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=Indoor Navigation= | =Indoor Navigation= | ||
==Concept== | ==Concept== | ||
| − | * | + | * As a map representation, we proposed a hybrid map using object-spatial layout-route information. |
| + | * Global localization is based on object recognition and its pose relationship, and our local localization uses 2D-contour matching by 2D laser scanning data. | ||
| + | * Our map representation is like this: | ||
| + | |||
| + | * The Object-based global localization is as follows: | ||
| + | |||
==Related papers== | ==Related papers== | ||
Revision as of 19:59, 26 May 2016
Contents
Concept
- As a map representation, we proposed a hybrid map using object-spatial layout-route information.
- Global localization is based on object recognition and its pose relationship, and our local localization uses 2D-contour matching by 2D laser scanning data.
- Our map representation is like this:
- The Object-based global localization is as follows:
Related papers
