Ground Texture Based Localization Using Compact Binary Descriptors
Jan Fabian Schmid,Stephan F. Simon,Rudolf Mester,Jan Fabian Schmid,Stephan F. Simon,Rudolf Mester
Ground texture based localization is a promising approach to achieve high-accuracy positioning of vehicles. We present a self-contained method that can be used for global localization as well as for subsequent local localization updates, i.e. it allows a robot to localize without any knowledge of its current whereabouts, but it can also take advantage of a prior pose estimate to reduce computation...
