Vision-Based Localization

Localization based on visual landmarks requires feature extraction from views and map, matching of features between views and map, and viewpoint hypothesis generation and veri cation. In this paper, we describe lowerlevel image and map understanding procedures for extracting features and higher-level problem solving methods for establishing feature correspondences and making inferences about the viewpoint. Each of these processes, including the interaction of high-level and low-level subsystems, is demonstrated on real data.

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