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  • https://doi.org/10.1109/aim.2015.7222667Copy DOI Icon

Appearance-based localization using Group LASSO regression with an indoor experiment

  • Jul 1, 2015
  • Huan N Do +3 more
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Abstract

This paper proposes appearance-based localization using online vision images collected from an omnidirectional camera attached on a mobile robot or a vehicle. Our approach builds on a combination of the group Least Absolute Shrinkage and Selection Operator (LASSO) and the extended Kalman filter (EKF). Fast Fourier transform (FFT) and Histogram are extracted from omni-directional images, the features of which are selected via the group LASSO regression. The EKF takes the output of the group LASSO regression based first-stage localization as the observation. The indoor experimental results demonstrate the effectiveness of our approach.

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