DocumentCode :
841001
Title :
Appearance based robotics
Author :
Zingaretti, Primo ; Frontoni, Emanuele
Author_Institution :
Dipartimento di Ingegneria Informatica, Universita Politecnica delle Marche, Ancona, Italy
Volume :
13
Issue :
1
fYear :
2006
fDate :
3/1/2006 12:00:00 AM
Firstpage :
59
Lastpage :
68
Abstract :
Robot localization has been recognized as one of the most fundamental problems in mobile robotics. Localization can be defined as the problem of determining the position of a robot. More precisely, the aim of localization is to estimate the position of a robot in its environment, given local sensorial data. This information is essential for a broad range of mobile robots tasks; in particular, the robot behavior may depend on its position. This article presents a novel and efficient metric for appearance based robot localization. This metric is integrated in a framework that uses a partially observable Markov decision process as position evaluator, thus allowing good results even in partially explored environments and in highly perceptually aliased indoor scenarios.
Keywords :
Markov processes; computer vision; image matching; image segmentation; mobile robots; path planning; position control; appearance based robotics; indoor scenarios; mobile robot; odometric sensors; partially observable Markov decision process; position control; robot localization; Data mining; Histograms; Layout; Mobile robots; Navigation; Robot kinematics; Robot localization; Robot sensing systems; Robotics and automation; Working environment noise;
fLanguage :
English
Journal_Title :
Robotics & Automation Magazine, IEEE
Publisher :
ieee
ISSN :
1070-9932
Type :
jour
DOI :
10.1109/MRA.2006.1598054
Filename :
1598054
Link To Document :
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