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MARVEL: a system that recognizes world locations with stereo vision
Braunegg, D.J.
Artificial Intelligence Lab., MIT, Cambridge, MA ;

This paper appears in: Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on
Publication Date: 3-6 Jun 1991
On page(s): 681-682
Meeting Date: 06/03/1991 - 06/06/1991
Location: Maui, HI, USA
ISBN: 0-8186-2148-6
References Cited: 5
INSPEC Accession Number: 4137188
Digital Object Identifier: 10.1109/CVPR.1991.139780
Current Version Published: 2002-08-06

Abstract
To use a world model, a mobile robot must be able to determine its own position in the world. MARVEL, a system that builds and maintains its own models of world locations and uses these models to recognize its world position from stereo vision input, supports truly autonomous navigation. MARVEL is designed to be robust with respect to input errors and to respond to a gradually changing world by updating its world location models. In over 1000 recognition tests using real-world data, MARVEL yielded a false negative rate under 10% with zero false positives

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