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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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초록· 키워드
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One of the main problems of topological localization in a real indoor environment is variations in the environment caused by dynamic objects and changes in illumination. Another problem arises from the sense of topological localization itself. Thus, a robot must be able to recognize observations at slightly different positions and angles within a certain topological location as identical in terms of topological localization. In this paper, a possible solution to these problems is addressed in the domain of global topological localization for mobile robots, in which environments are represented by their visual appearance. Our approach is formulated on the basis of a probabilistic model called the Bayes filter. Here, marginalization of dynamics in the environment, marginalization of viewpoint changes in a topological location, and fusion of multiple visual features are employed to measure observations reliably, and action-based view transition model and action-associated topological map are used to predict the next state. We performed experiments to demonstrate the validity of our proposed approach among several standard approaches in the field of topological localization. The results clearly demonstrated the value of our approach.
목차
Abstract
1. 서론
2. 로봇 동작과 연관된 위상학적 지도와 비전기반의 측정
3. 문제점 기술
4. 동적인 환경에서의 전역적 위상학적 위치 추정
5. 실험
6. 결론
참고문헌
참고문헌 (18)
참고문헌 신청
1. [학술대회논문] - Arras, K.O. / 1997 / Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building / In The Proceedings of the Symposium on Intelligent Systems and Advanced Manufacturing : 13 ~ 17
2. [학술대회논문] - Beeson, P. / 2005 / Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph / In IEEE International Conference on Robotics and Automation
3. [학술지(정기간행물)] - Dissanayake / 2001 / A Solution to the Simultaneous Localization and Map Building (SLAM) problem / IEEE Trans. On Robotics and Automation 17 (3)
4. [단행본] - Mataric, M. J / 1991 / Navigating with a rat brain: A neurobiologicallyinspired model for robot spatial representtation / From Animals to Animats
5. [학술대회논문] - Owen, C. / 1998 / Landmark-based navigation for a mobile robot, in: From Animals to Animate 5 / Proceedings of SAB : 240 ~ 245
2. [학술대회논문] - Beeson, P. / 2005 / Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph / In IEEE International Conference on Robotics and Automation
3. [학술지(정기간행물)] - Dissanayake / 2001 / A Solution to the Simultaneous Localization and Map Building (SLAM) problem / IEEE Trans. On Robotics and Automation 17 (3)
4. [단행본] - Mataric, M. J / 1991 / Navigating with a rat brain: A neurobiologicallyinspired model for robot spatial representtation / From Animals to Animats
5. [학술대회논문] - Owen, C. / 1998 / Landmark-based navigation for a mobile robot, in: From Animals to Animate 5 / Proceedings of SAB : 240 ~ 245
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