Hierarchical Image-based Localisation for Mobile Robots with Monte-Carlo Localisation

This paper extends our previous works on image-based lo- calisation for mobile robot. The image-based localisation consists in matching the current view experienced by the robot with the reference views stored in the visual mem- ory of the robot. The original idea was to use the Fourier components as signatures for the omnidirectional images acquired by the robot. The extensions proposed in this pa- per are: the possibility to have a localisation with differ- ent accuracy while the robot navigates (called hierarchical localisation) and the introduction of a Monte-Carlo local- isation technique to increase the robustness of the system in environments where the image-based localisation can be mislead. Experiments demonstrated the feasibility of the hi- erarchical localisation and the robustness of the implemen- tation of our Monte-Carlo localisation.