Mapping and localization for mobile robots

We developed algorithms and representations for autonomous mapping and visual localization of mobile robots from omni-directional images. We also developed a purely emergent hierarchical mapping algorithm based on “recover and select” that creates maps of wide and unstructured environments from local appearance and odometry.

Publications

Unsupervised Learning of a Hierarchy of Topological Maps using Omnidirectional Images

A. Štimec, Matjaž Jogan and Aleš Leonardis

International Journal of Pattern Recognition and Artificial Intelligence (IJPRAI), World Scientific Publishing Company, 2008
Robust Localization using an Omnidirectional Appearance-based Subspace Model of Environment

Matjaž Jogan and Aleš Leonardis

Robotics and Autonomous Systems, 2003
Panoramic Volumes for Robot Localization

Matej Artač, Matjaž Jogan, Hynek Bakstein and Aleš Leonardis

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
A Framework for Robust and Incremental Self-Localization

Matjaž Jogan, Matej Artač, Danijel Skočaj and Aleš Leonardis

Proceedings 3rd Intl. Conference on Computer Vision Systems, ICVS 2003, Springer Berlin / Heidelberg, 2003
Mobile Robot Localization under Varying Illumination

Matjaž Jogan, Aleš Leonardis, Horst Wildenauer and Horst Bischof

ICPR 2002, IEEE Computer Society, 2002
Mobile Robot Localization using an Incremental Eigenspace Model

Matej Artač, Matjaž Jogan and Aleš Leonardis

ICRA 2002, IEEE Robotics and Automation Society, 2002
Robust Localization using Panoramic View-Based Recognition

Matjaž Jogan and Aleš Leonardis

15th International Conference on Pattern Recognition, IEEE Computer Society, 2000
Panoramic Eigenimages for Spatial Localisation

Matjaž Jogan and Aleš Leonardis

8-th International Conference on Computer Analysis of Images and Patterns, Springer Berlin / Heidelberg, 1999

Mapping and localization for mobile robots

Researchers

Publications