A novel mobile robot localization approach based on topological maps using classification with reject option in omnidirectional images

摘要

Mobile robot localization, which allows a robot to identify its position, is one of main challenges in the field of Robotics. In this work, we provide an evaluation of consolidated feature extractions and machine learning techniques from omnidirectional images focusing on topological map and localization tasks. The main contributions of this work are a novel method for localization via classification with reject option using omnidirectional images, as well as two novel omnidirectional image data sets. The localization system was analyzed in both virtual and real environments. Based on the experiments performed, the Minimal Learning Machine with Nearest Neighbors classifier and Local Binary Patterns feature extraction proved to be the best combination for mobile robot localization with accuracy of 96.7% and an Fscore of 96.6%. (C) 2016 Elsevier Ltd. All rights reserved.