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Université de Neuchâtel

Visual attention-based robot self-localization

Ouerhani, Nabil ; Bur, Alexandre ; Hügli, Heinz

In: In Proceeding of European Conference on Mobile Robotics, 2005, p. 8-13

This paper reports a landmark-based localization method relying on visual attention. In a learning phase, the multi-cue, multi-scale saliency-based model of visual attention is used to automatically acquire robust visual landmarks that are integrated into a topological map of the navigation environment. During navigation, the same visual attention model detects the most salient visual features...