Title :
Second order hidden Markov models for place recognition: new results
Author :
Aycard, Olivier ; Mari, Jean-François ; Charpillet, François
Author_Institution :
LORIA, Vandoeuvre, France
Abstract :
Second order hidden Markov models have been used for a long time in pattern recognition, especially in speech recognition. Their main advantages over other methods (neural networks etc.) are their capabilities of modeling noisy temporal signals of variable length. In a previous work, we proposed a new method based on second order hidden Markov models to learn and recognize places in an indoor environment by a mobile robot, and showed that this approach is well suited for learning and recognizing places. In this paper, we propose major modifications to increase the global rate of place recognition. Results of experiments on a real robot with distinctive places are given
Keywords :
hidden Markov models; mobile robots; pattern classification; pattern recognition; global place recognition rate; indoor environment; mobile robot; noisy temporal signal modeling; pattern recognition; place learning; place recognition; second order hidden Markov models; Hidden Markov models; Infrared sensors; Mobile robots; Neural networks; Pattern recognition; Robot sensing systems; Robotics and automation; Speech; Stochastic processes; World Wide Web;
Conference_Titel :
Tools with Artificial Intelligence, 1998. Proceedings. Tenth IEEE International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-5214-9
DOI :
10.1109/TAI.1998.744879