Environmental modeling with fingerprint sequences for topological global localization

被引：0

作者：

Lamon, P ^{[1
]}

Tapus, A ^{[1
]}

Glauser, E ^{[1
]}

Tomatis, N ^{[1
]}

Siegwart, R ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Swiss Fed Inst Technol, Autonomous Syst Lab, CH-1015 Lausanne, Switzerland

来源：

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper a perception approach allowing for high distinctiveness is presented The method works in accordance to the fingerprint concept. Such representation allows using a very flexible matching approach based on the minimum energy algorithm. The whole extraction and matching approach is presented in details and viewed in a topological optic, where the matching result can directly be used as observation function for a topological localization approach. The experimentation section will validate the fingerprint approach and present different set of experiments in order to explain practically the choice of different types of features.

引用

页码：3781 / 3786

页数：6

共 15 条

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