Name
Abstract | ||
|---|---|---|
This paper presents a new sonar based landmark to represent significant places in an environment for localization purposes. This landmark is based on extracting the contour free of obstacles around the robot from a local evidence grid. This contour is represented by its curvature, calculated by a noise-resistant function which adapts to the natural scale of the contour at each point. Then, curvature is reduced to a short feature vector by using Principal Component Analysis. The landmark calculation method has been successfully tested in a medium scale real environment using a Pioneer robot with Polaroid sonar sensors. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/s00500-006-0069-3 | Soft Comput. |
Keywords | Field | DocType |
natural scale,polaroid sonar sensor,landmark calculation method,real environment,indoor environments,local evidence grid,principal component analysis,pioneer robot,localization purpose,new sonar,new sonar-based landmark,medium scale,feature vector,principal component | Computer vision,Feature vector,Curvature,Computer science,Sonar,Fast Fourier transform,Artificial intelligence,Landmark,Robot,Grid,Mobile robot | Journal |
Volume | Issue | ISSN |
11 | 3 | 1433-7479 |
Citations | PageRank | References |
0 | 0.34 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| A. Poncela | 1 | 28 | 3.19 |
| C. Urdiales | 2 | 251 | 33.14 |
| C. de Trazegnies | 3 | 21 | 2.71 |
| F. Sandoval | 4 | 148 | 11.57 |