Title :
Environmental modeling with fingerprint sequences for topological global localization
Author :
Lamon, Pierre ; Tapus, Adriana ; Glauser, Etienne ; Tomatis, Nicola ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
Abstract :
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.
Keywords :
feature extraction; fingerprint identification; modelling; position control; string matching; environmental modelling; feature extraction; fingerprint sequences; minimum energy algorithm; observation function; positioning; string matching algorithm; topological global localization; Context modeling; Feature extraction; Fingerprint recognition; Geometry; Image recognition; Mobile robots; Robot sensing systems; Robustness; Sonar navigation; Statistics;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249743
