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This paper proposes a novel global localization approach that uses hybrid maps of objects and spatial layouts. We model indoor environments using the following visual cues from a stereo camera: local invariant features for object recognition and their 3D positions for object location representation. We also use a 2D laser range finder. Therefore, we can build a hybrid local node for a topological...
In this paper, we suggest a new method of human augmented mapping for indoor environments using only a stereo camera. Through user's help, a robot with a stereo camera can investigate the environment without failure and even more efficiently. Moreover, the user can share the information about the environment with the robot and add semantic information to the environmental map. We employ PCA features...
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