Appearance-based outdoor localization using group lasso regression

Huan N. Do; Jongeun Choi

doi:10.1115/DSCC2015-9865

Appearance-based outdoor localization using group lasso regression

Huan N. Do, Jongeun Choi

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper presents appearance-based localization for an omni-directional camera that builds on a combination of the group Least Absolute Shrinkage and Selection Operator (LASSO) and the extended Kalman filter (EKF). A histogram that represents the population of the Speeded-Up Robust Features (SURF points) is computed for each image, the features of which are selected via the group LASSO regression. The EKF takes the output of the LASSO regression-based first localization as observations for the final localization. The experimental results demonstrate the effectiveness of our approach.

Original language	English
Title of host publication	Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791857267
DOIs	https://doi.org/10.1115/DSCC2015-9865
Publication status	Published - 2015
Event	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: 2015 Oct 28 → 2015 Oct 30

Publication series

Name	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume	3

Other

Other	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/Territory	United States
City	Columbus
Period	15/10/28 → 15/10/30

Bibliographical note

Publisher Copyright:
© 2015 by ASME.

All Science Journal Classification (ASJC) codes

Industrial and Manufacturing Engineering
Mechanical Engineering
Control and Systems Engineering

Access to Document

10.1115/DSCC2015-9865

Cite this

Do, H. N., & Choi, J. (2015). Appearance-based outdoor localization using group lasso regression. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9865

Do, Huan N. ; Choi, Jongeun. / Appearance-based outdoor localization using group lasso regression. Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).

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title = "Appearance-based outdoor localization using group lasso regression",

abstract = "This paper presents appearance-based localization for an omni-directional camera that builds on a combination of the group Least Absolute Shrinkage and Selection Operator (LASSO) and the extended Kalman filter (EKF). A histogram that represents the population of the Speeded-Up Robust Features (SURF points) is computed for each image, the features of which are selected via the group LASSO regression. The EKF takes the output of the LASSO regression-based first localization as observations for the final localization. The experimental results demonstrate the effectiveness of our approach.",

author = "Do, {Huan N.} and Jongeun Choi",

note = "Publisher Copyright: {\textcopyright} 2015 by ASME.; ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 ; Conference date: 28-10-2015 Through 30-10-2015",

year = "2015",

doi = "10.1115/DSCC2015-9865",

language = "English",

series = "ASME 2015 Dynamic Systems and Control Conference, DSCC 2015",

publisher = "American Society of Mechanical Engineers",

booktitle = "Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems",

}

Do, HN & Choi, J 2015, Appearance-based outdoor localization using group lasso regression. in Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 3, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 15/10/28. https://doi.org/10.1115/DSCC2015-9865

Appearance-based outdoor localization using group lasso regression. / Do, Huan N.; Choi, Jongeun.
Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Do, Huan N.

AU - Choi, Jongeun

PY - 2015

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N2 - This paper presents appearance-based localization for an omni-directional camera that builds on a combination of the group Least Absolute Shrinkage and Selection Operator (LASSO) and the extended Kalman filter (EKF). A histogram that represents the population of the Speeded-Up Robust Features (SURF points) is computed for each image, the features of which are selected via the group LASSO regression. The EKF takes the output of the LASSO regression-based first localization as observations for the final localization. The experimental results demonstrate the effectiveness of our approach.

AB - This paper presents appearance-based localization for an omni-directional camera that builds on a combination of the group Least Absolute Shrinkage and Selection Operator (LASSO) and the extended Kalman filter (EKF). A histogram that represents the population of the Speeded-Up Robust Features (SURF points) is computed for each image, the features of which are selected via the group LASSO regression. The EKF takes the output of the LASSO regression-based first localization as observations for the final localization. The experimental results demonstrate the effectiveness of our approach.

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BT - Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems

PB - American Society of Mechanical Engineers

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Do HN, Choi J. Appearance-based outdoor localization using group lasso regression. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). doi: 10.1115/DSCC2015-9865

Appearance-based outdoor localization using group lasso regression

Abstract

Publication series

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Bibliographical note

All Science Journal Classification (ASJC) codes

Access to Document

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