Monte Carlo localization for mobile robot based on omnidirectional image matching
基于全景视觉匹配的移动机器人蒙特卡罗定位算法

We propose an algorithm to solve the omnidirectional image matching problem by using the histogram of gradient orientation.By combining the matching algorithm with Monte Carlo localization algorithm,we develop a method of localization for the mobile robot based on the omnidirectional vision.The characteristics of the matching algorithm are analyzed,from which we build the observation model and develop the method for calculating the important weights for the particle filter.This method rejects the interference of perceptual aliasing during the localizing period,and helps the robot to rapidly recover from the "kidnapped" situation.Experimental results show the validity and effectiveness of the presented method.