Title :
A sensor model registration technique for mobile robot localization
Author :
Lang, Sherman Y T ; Wong, Andrew K.C.
Author_Institution :
Nat. Res. Council of Canada, Ottawa, Ont., Canada
Abstract :
A method for mobile robot localization using natural environmental features is presented. An attributed graph boundary representation of free space is used. A local sensor model is registered with a global model by a subgraph isomorphism technique. Geometric and structural knowledge is used to search for mappings. The set of possible mappings is incrementally determined. Simultaneously, the associated coordinate transformation between the global and local models is refined. The model registration technique is implemented in software, and two examples are shown
Keywords :
graph theory; mobile robots; position control; attributed graph boundary representation; global model; local sensor model; mappings; mobile robot localization; position control; sensor model registration; subgraph isomorphism; Calibration; Councils; Dead reckoning; Information technology; Laboratories; Mobile robots; Sensor phenomena and characterization; Sonar navigation; Space technology; Wires;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187374
