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\citation{Lowe04}
\citation{ZhangKosecka06}
\citation{topo07}
\citation{Brown07City}
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\citation{Brown07City}
\@writefile{toc}{\contentsline {section}{\numberline {II}Proposed Approach}{2}}
\newlabel{figs_approach}{{II}{2}}
\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Some challenging queries for which the proposed localization method succeeded. The images in the upper row are the queries, the images in the lower row are the results that were returned.}}{2}}
\newlabel{fig:result_success}{{3}{2}}
\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces Dynamic Object Detection: Matched features that were determined to be from moving objects are marked with red crosses, matched features that appeared to be stationary are marked with green circles}}{2}}
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\@writefile{toc}{\contentsline {subsection}{\numberline {II-A}Notation Used}{2}}
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\@writefile{toc}{\contentsline {subsection}{\numberline {II-B}Detecting Dynamic Scene Elements}{2}}
\newlabel{figs_dynamic}{{II-B}{2}}
\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Some of the challenges faced in urban image based localization: The left image shows a view with significant occlusion due to traffic. The images in the center and on the right show views that are highly similar in appearance which are from widely separated locations}}{3}}
\newlabel{fig:frame_traffic}{{1}{3}}
\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces A Block Diagram showing the design of the proposed localization system}}{3}}
\newlabel{fig:sysblock}{{2}{3}}
\@writefile{toc}{\contentsline {subsection}{\numberline {II-C}Assigning Weights to Visual Words}{4}}
\newlabel{figs_weights}{{II-C}{4}}
\@writefile{toc}{\contentsline {subsection}{\numberline {II-D}Localization by Image Matching}{4}}
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\@writefile{toc}{\contentsline {subsection}{\numberline {II-E}Updating The Pose Probability Distribution}{5}}
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\@writefile{toc}{\contentsline {section}{\numberline {III}Experimental Results}{5}}
\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces The car was driven along a $1\rightarrow 2\rightarrow 3 \rightarrow 2\rightarrow 4\rightarrow 5\rightarrow 4\rightarrow 2\rightarrow 1$ path}}{5}}
\newlabel{fig:car_path}{{5}{5}}
\@writefile{lof}{\contentsline {figure}{\numberline {7}{\ignorespaces The above graphs show the frame by frame localization results for the sequences Test1 and Test2. The first graph in each row shows the frame each image in the corresponding test sequence was localized to using direct image retrieval. The red graphs in the center show the results obtained by the proposed global localization method and the graphs on the right show the local localization results where the previous localization iteration is used to generate a robot pose prior}}{6}}
\@writefile{lof}{\contentsline {subfigure}{\numberline{(a)}{\ignorespaces {Test1}}}{6}}
\@writefile{lof}{\contentsline {subfigure}{\numberline{(b)}{\ignorespaces {Test2}}}{6}}
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\@writefile{lof}{\contentsline {figure}{\numberline {6}{\ignorespaces Some frames for which the localization failed. The images in the left column are the queries, the images in the middle column are the incorrect results that were returned and the right column contains the correct matching images determined from GPS ground truth data.}}{6}}
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\@writefile{lot}{\contentsline {table}{\numberline {I}{\ignorespaces Localization Error Rate}}{6}}
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\@writefile{lot}{\contentsline {table}{\numberline {II}{\ignorespaces Mean Localization Errors}}{6}}
\newlabel{error_table}{{II}{6}}
\@writefile{toc}{\contentsline {subsection}{\numberline {III-A}Analysis}{6}}
\@writefile{toc}{\contentsline {section}{\numberline {IV}Conclusion}{6}}
\bibstyle{ieeetr}
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\bibcite{vgoogle}{1}
\bibcite{vocabTree}{2}
\bibcite{topo07}{3}
\bibcite{mser}{4}
\bibcite{Lowe04}{5}
\bibcite{surf06}{6}
\bibcite{Fox99montecarlo}{7}
\bibcite{urbnavCipolla}{8}
\bibcite{Royer04}{9}
\bibcite{histolocal}{10}
\bibcite{pcalocal}{11}
\bibcite{fourierlocal}{12}
\bibcite{ZhangKosecka06}{13}
\bibcite{Brown07City}{14}
\bibcite{fabmap}{15}
\@writefile{toc}{\contentsline {section}{References}{7}}
