DocumentCode :
2865351
Title :
Mobile Robot Localization Based on Topological Model with Tiered Features
Author :
Fang, Fang ; Ma, Xudong ; Dai, Xianzhong
Author_Institution :
Dept. of Autom. Control, Southeast Univ., Nanjing
fYear :
2006
fDate :
25-28 June 2006
Firstpage :
520
Lastpage :
525
Abstract :
Perceiving the position of the mobile robot in an environment is an important element for an autonomous or semi-autonomous robot. In this paper we present a novel localization paradigm using topological map with tiered features, which is robust to rotation, illumination variations and scale changes. The topological model is extracted from natural landmarks and the normalized Zernike moments are calculated as main landmark features. By color matching and Zernike moments matching based on a probabilistic voting method between input scene and image models, natural landmarks can be recognized. The result is then fused with sonar data. The technique is especially adapted to indoor environment. Experimental results validate the favorable performance of this approach
Keywords :
feature extraction; image colour analysis; image matching; mobile robots; object recognition; position control; robot vision; sensor fusion; sonar signal processing; autonomous robot; color matching; indoor environment; landmark features; mobile robot localization; normalized Zernike moments matching; probabilistic voting method; semi-autonomous robot; sonar data; tiered features; topological model; Data mining; Layout; Lighting; Mechatronics; Mobile robots; Navigation; Robotics and automation; Robustness; Sonar; Voting; Mobile robots; Natural landmark; Topological model; Zernike moments;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
Type :
conf
DOI :
10.1109/ICMA.2006.257607
Filename :
4026137
Link To Document :
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