Appearance-Based Sequential Robot Localization Using a Patchwise Approximation of a Descriptor Manifold
This paper addresses appearance-based robot localization in 2D with a sparse, lightweight map of the environment composed of descriptor–pose image pairs. Based on previous research in the field, we assume that image descriptors are samples of a low-dimensional Descriptor Manifold that is locally art...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-04-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/7/2483 |