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    Comparison of Local Descriptors for Humanoid Robots Localization Using a Visual Bag of Words Approach

    Noé G. Aldana-Murillo, Jean-Bernard Hayet, Héctor M. Becerra

    Intelligent Automation & Soft Computing, Vol.24, No.3, pp. 471-481, 2018, DOI:10.1080/10798587.2017.1304508

    Abstract In this paper, we address the problem of the appearance-based localization of a humanoid robot, in the context of robot navigation. We only use information obtained by a single sensor, in this case the camera mounted on the robot. We aim at determining the most similar image within a previously acquired set of key images (also referred to as a visual memory) to the current view of the monocular camera carried by the robot. The robot is initially kidnapped and the current image has to be compared with the visual memory. To solve this problem, we rely on a hierarchical… More >

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