Factor graph localization for mobile robots using Google Indoor Street View and CNN-based place recognition

This article proposes a mobile robot localization system developed using Google Indoor Street View (GISV) and Convolutional Neural Network (CNN)-based visual place recognition. The proposed localization system consists of two main modules. The first is a place recognition module based on GISV and a...

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Autors principals:	Kusal B. Tennakoon, Oscar De Silva, Awantha Jayasiri, George K.I. Mann, Raymond G. Gosine
Format:	Artigo
Idioma:	Inglês
Publicat:	Canadian Science Publishing 2023-01-01
Col·lecció:	Drone Systems and Applications
Matèries:	topological localization indoor localization factor graph place recognition
Accés en línia:	https://cdnsciencepub.com/doi/10.1139/dsa-2022-0045
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