Evaluación de nuevos modos de empleo de los descriptores de apariencia global en tareas de localización

  1. Vicente Román 1
  2. Sergio Cebollada 1
  3. Luis Payá 1
  4. María Flores 1
  5. Arturo Gil 1
  6. Óscar Reinoso 1
  1. 1 Universidad Miguel Hernández de Elche
    info

    Universidad Miguel Hernández de Elche

    Elche, España

    ROR https://ror.org/01azzms13

Llibre:
XL Jornadas de Automática: libro de actas. Ferrol, 4-6 de septiembre de 2019
  1. Jose Luis Calvo Rolle (coord.)
  2. Jose Luis Casteleiro Roca (coord.)
  3. María Isabel Fernández Ibáñez (coord.)
  4. Óscar Fontenla Romero (coord.)
  5. Esteban Jove Pérez (coord.)
  6. Alberto José Leira Rejas (coord.)
  7. José Antonio López Vázquez (coord.)
  8. Vanesa Loureiro Vázquez (coord.)
  9. María Carmen Meizoso López (coord.)
  10. Francisco Javier Pérez Castelo (coord.)
  11. Andrés José Piñón Pazos (coord.)
  12. Héctor Quintián Pardo (coord.)
  13. Juan Manuel Rivas Rodríguez (coord.)
  14. Benigno Rodríguez Gómez (coord.)
  15. Rafael Alejandro Vega Vega (coord.)

Editorial: Servizo de Publicacións ; Universidade da Coruña

ISBN: 978-84-9749-716-9

Any de publicació: 2019

Pàgines: 842-848

Congrés: Jornadas de Automática (40. 2019. Ferrol)

Tipus: Aportació congrés

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Resum

Map building and localization are two im portant tasks that autonomous mobile robots have to deal with. In the last decades it has appeared many studies and techniques to approach these problems. This work brie y describes some possible solutions and it recommends global appearance descriptors to carry our localization tasks. The aim is to obtain a unique vector that describes globally the panoramic image. The mobile robot is able to estimate its position and to create maps using these methods, the result will be independent of the robot orientation. This paper goal is to use a brand new way to use the global appearance descriptors. The nal result could be to use this new way or, a more interesting result, use a combination between both ways taken as a result a third better way. This work will consist on a comparison between both global appearance method ways. The study has been carried out using real images taken in an heterogeneous atmosp here where humans and robots work toget her, for that reason light condition changes and humans can apppear on the scene.

Fuente de los datos: Dialnet