@inproceedings{d38b00117b084b418cbf9a2891ba1cd2,
title = "A Ground Texture-based Mapping and Localization Method for AGVs",
abstract = "We present a ground-texture based mapping and localization method that we implement and evaluate on an industrial AGV. Our method compares recorded textures with known pictures from a database prior estimating the pose. This comparison is based on feature histograms. Keeping this structure allows us to perform a live evaluation of the quality of the pose estimates. This is done by leveraging the conditions of the presented use case in which all images are known to have a similar orientation and scale. Furthermore, we provide an analysis of how the floor features are affected after cleaning, as well as their spatial distribution. ",
keywords = "AGV, industrial floor, localization, pose estimation",
author = "Javier Macias-Sola and Sarah Uttendorf and Blech, \{Jan Olaf\}",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; International Conference on Indoor Positioning and Indoor Navigation, IPIN ; Conference date: 29-11-2021 Through 02-12-2021",
year = "2022",
month = jan,
doi = "10.1109/IPIN51156.2021.9662556",
language = "English",
series = "International Conference on Indoor Positioning and Indoor Navigation",
publisher = "IEEE",
booktitle = "2021 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2021",
address = "United States",
}