A Robust Indoor Localization System Integrating Visual Localization Aided by CNN-Based Image Retrieval with Monte Carlo Localization

A Robust Indoor Localization System Integrating Visual Localization Aided by CNN-Based Image Retrieval with Monte Carlo Localization

This paper proposes a novel multi-sensor-based indoor global localization system integrating visual localization aided by CNN-based image retrieval with a probabilistic localization approach. The global localization system consists of three parts: coarse place recognition, fine localization and re-l...

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Bibliographic Details
Main Authors: Song Xu, Wusheng Chou, Hongyi Dong
Format: Article
Language:English
Published: MDPI AG 2019-01-01
Series:Sensors
Subjects:
indoor global localization
monocular camera
laser range finder
image retrieval
convolutional neural network
kidnapping
Online Access:http://www.mdpi.com/1424-8220/19/2/249

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