DocumentCode
2918714
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
fYear
1991
fDate
13-15 Aug 1991
Firstpage
298
Lastpage
305
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location
Arlington, VA
ISSN
2158-9860
Print_ISBN
0-7803-0106-4
Type
conf
DOI
10.1109/ISIC.1991.187374
Filename
187374
Link To Document