Localization and Positioning Using Combinations of Model Views

摘要

A method for localization and positioning in an indoor environment is presented. Localization is the act of recognizing the environment, and positioning is the act of computing the exact coordinates of a robot in the environment. The method is based on representing the scene as a set of 2D views and predicting the appearance of novel views by linear combinations of the model views. The method accurately approximates the appearance of scenes under weak perspective projection. Analysis of this projection as well as experimental results demonstrate that in many cases this approximation is sufficient to accurately describe the scene. When orthographic approximation is invalid, either a larger number of models can be acquired or an iterative solution to account for the perspective distortions can be employed.