Title :
Qualitative map learning based on covisibility of objects
Author :
Yairi, Takehisa ; Hori, Koichi ; Hirama, Kosuke
Author_Institution :
Res. Center For Adv. Sci. & Technol., Univ. of Tokyo, Japan
Abstract :
Autonomous map construction is one of the most fundamental and significant issues in intelligent mobile robot research. While a variety of map construction methods have been proposed, most require some quantitative measurements of the environment and a mechanism of precise self-localization. This paper proposes a novel map construction method using only qualitative information about "how often two objects are observed simultaneously." This method is based on heuristics-"closely located objects are likely to be seen simultaneously more often than distant objects" and a well-known multivariate data analysis technique-multidimensional scaling. A significant feature of this method is that it requires neither quantitative sensor measurements nor information about the robot\´s own position. Simulation and experimental results demonstrated that this method is sufficiently practical for capturing a qualitative spatial relationship among identifiable landmark objects rapidly.
Keywords :
intelligent robots; learning (artificial intelligence); mobile robots; autonomous map construction; intelligent mobile robot research; multidimensional scaling; multivariate data analysis technique; qualitative map learning; qualitative spatial relationship; quantitative sensor measurement; Data analysis; Extraterrestrial measurements; Frequency estimation; Intelligent robots; Intelligent sensors; Intelligent structures; Mobile robots; Path planning; Position measurement; Robot sensing systems; Covisibility; map building; mobile robot; qualitative information; Algorithms; Artificial Intelligence; Computer Simulation; Maps as Topic; Maze Learning; Models, Statistical; Movement; Pattern Recognition, Automated; Robotics; Space Perception;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2005.846002