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

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3781

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249743

Filename

1249743