Outdoor Localization Using Visual Feature Matching and Image Retrieval
Speaker: Peter Corke , CSIRO ICT Centre
Date: December 3 2007
Time: 4:00PM to 5:00PM
Location: 32-G449 Stata Center - Patil/Kiva Conference Room
Host: Daniela Rus, MIT CSAIL
Contact: Marcia Davidson, 617-253-5817, marcia@csail.mit.edu
Relevant URL: This talk describes an outdoor mobile robot navigation and localization system based on visual features. We use a novel feature detector operating on wide angle images and create a database of image features for a large outdoor environment. Images are tagged by their location and camera pointing direction. Given an arbitrary view we use algorithms inspired by "Video Google" to extract scenes from the database that overlap the current view and from which we can estimate our current pose in the environment.
Peter Corke is a Chief Research Scientist with the CSIRO ICT Centre. His research activities span machine vision, vision-based robot control, field robotics (with a focus on mining applications), real-time systems and sensor networks. He currently leads a cross-organizational research program in sensor networks, and prior to that he founded and led the Centre's Autonomous Systems laboratory. He holds B.Eng. and M.Eng.Sc. degrees, both in electrical engineering, and a Ph.D., all from the University of Melbourne. He is an adjunct professor in ITEE at the University of Queensland, and is a founding editor of the Journal of Field Robotics and a member of the editorial board of the International Journal of Robotics Research. He has held visiting positions at the CMU Robotics Institute, the Coordinated Science Laboratory at UIUC and the GRASP Laboratory at the University of Pennsylvania.
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