Title :
An information-based criterion for efficient robot map building
Author :
Amigoni, Francesco ; Caglioti, Vincenzo
Author_Institution :
Dipt. di Elettronica e Informazione, Politecnico di Milano, Italy
Abstract :
This paper presents the theoretical aspects and a preliminary experimental validation of a criterion for determining the best observation positions for robot map building, intended as a particular environmental measurement task. The proposed criterion takes into account both the distance traveled and the information gathered by the robot.
Keywords :
cartography; data acquisition; mobile robots; robot vision; environmental measurement task; experimental validation; information gathering; information-based criterion; mobile perceptive robot; observation position; obstacle representation; robot map building; theoretical aspect; traveled distance; Buildings; Data mining; Filtering; Infrared sensors; Mobile robots; Robot sensing systems; Sensor phenomena and characterization; Smoothing methods; TV; Testing;
Conference_Titel :
Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2003. VECIMS '03. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7785-0
DOI :
10.1109/VECIMS.2003.1227052
