Volume 31 #1

Contents

1. Sensory properties of reward pattern affect food preferences in rats
2. Probable role of p38 MAP-kinase in reception of infrared irradiation
3. Investigation of Src-kinase inhibitor PP2 effects on modulation of slow sodium channels by ouabain
4. Perimetric assessment of a blind zone margin at the extreme periphery of human temporal retina
5. LogMAR for visual acuity is worse than horsepower for electric lamp
6. Bright light induced freezing behavior in American cockroach, Periplaneta americana
7. Analysis of human eye movements in the management of self-propelled chassis with video eye-tracking interface system
8. Mechanisms of transduction of olfactory signals: the possible role of the contractive apparatus of the olfactory ciliae
9. Architecture of a system for computer vision-based vehicle detection and classification under natural conditions
10. Localization of a stereo camera equipped robot using poles with known location as landmarks

Visual localization is gaining wide adoption in robotics research. In localizing a robot within known environment one can simplify the task by using arti cial landmarks with known xed location. In this work, we use black and white distinctively striped poles as such landmarks. The key point about landmarks of this kind is that their orientation cannot be visually discerned. We propose a localization approach for such landmarks with unknowable orientation that takes into account the nite precision of computer vision systems, particularly errors in distance computation from wide-angle binocular images. The statistically optimal estimates are obtained using grid-based Bayesian methods, which allows plugging in arbitrary error distributions.

Key words: localization, position estimation, unmanned ground vehicles, computer vision, landmark recognition, grid-based Bayesian estimation

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