Topological localization using Wi-Fi and vision merged into FABMAP framework
Mathieu Nowakowski, Cyril Joly, Sébastien Dalibard, Nicolas Garcia, Fabien Moutarde
Abstract
This paper introduces a topological localization algorithm that uses visual and Wi-Fi data. Its main contribution is a novel way of merging data from these sensors. By making Wi-Fi signature suited to FABMAP algorithm, it develops an early-fusion framework that solves global localization and kidnapped robot problem. The resulting algorithm is tested and compared to FABMAP visual localization, over data acquired by a Pepper robot in an office building. Several constraints were applied during acquisition to make the experiment fitted to real-life scenarios. Without any tuning, early-fusion surpasses the performances of visual localization by a significant margin: 94% of estimated localizations are less than 5m away from ground truth compared to 81% with visual localization.
BibTeX
@inproceedings{iros2017_topologicallocal,
title = {Topological localization using Wi-Fi and vision merged into FABMAP framework},
author = {Mathieu Nowakowski and Cyril Joly and Sébastien Dalibard and Nicolas Garcia and Fabien Moutarde},
booktitle = {IROS 2017},
year = {2017}
}