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Robust Visual Localization in Changing Lighting Conditions

Authors
김표진Brian ColtinOleg Alexandrov김현진
Issue Date
Jul-2017
Publisher
Institute of Electrical and Electronics Engineers Inc.
Citation
Proceedings - IEEE International Conference on Robotics and Automation, pp 5447 - 5452
Pages
6
Journal Title
Proceedings - IEEE International Conference on Robotics and Automation
Start Page
5447
End Page
5452
URI
https://scholarworks.sookmyung.ac.kr/handle/2020.sw.sookmyung/151353
DOI
10.1109/ICRA.2017.7989640
ISSN
1050-4729
Abstract
We present an illumination-robust visual localization algorithm for Astrobee, a free-flying robot designed to autonomously navigate on the International Space Station (ISS). Astrobee localizes with a monocular camera and a pre-built sparse map composed of natural visual features. Astrobee must perform tasks not only during the day, but also at night when the ISS lights are dimmed. However, the localization performance degrades when the observed lighting conditions differ from the conditions when the sparse map was built. We investigate and quantify the effect of lighting variations on visual feature-based localization systems, and discover that maps built in darker conditions can also be effective in bright conditions, but the reverse is not true. We extend Astrobee's localization algorithm to make it more robust to changing-light environments on the ISS by automatically recognizing the current illumination level, and selecting an appropriate map and camera exposure time. We extensively evaluate the proposed algorithm through experiments on Astrobee.
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