This paper deals with slippage detection and pose recovery during the S�A� proc � ss of mobil � robot navigation. Mobile robots do not have a successful solution to recover when 10cahzatIOn fa � ls due to .sl . lp � a ? e. Unexpected inputs such as wheel slippage lead to fals � predic�ion during the SL�1:1 pr ? cess. In thIS paper, mlm � 1lZmg the risk of localization failure is proposed by applYIng optIcal flow to the ceIlIng Image sequences as a slIpp � ge detector. The optical flow-based motion estimation …
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