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Learning Representative Features for Robot Topological Localization : Apprendimento di caratteristiche rappresentative per la localizzazione topologica di un robot, in: International Journal of Advanced Robotic Systems |
Documenti accessibili
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Informazioni generali |
| Autore |
Zhao, Zeng-Shun; Feng, Xiang; Wei, Fang; Lin, Yan-Yan; Li, Yi-Bin; Hou, Zeng-Guang; Tan, Min |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
This paper proposes a new method for mobile
robots to recognize places with the use of a single camera
and natural landmarks. In the learning stage, the robot is
manually guided along a path. Video sequences are
captured with a front‐facing camera. To reduce the
perceptual alias of visual features, which are easily
confused, we propose a modified visual feature
descriptor which combines the dominant hue colour
information with the local texture. A Location Features
Vocabulary Model (LVFM) is established for each
individual location using an unsupervised learning
algorithm. During the course of travelling, the robot
employs each detected interest point to vote for the most
likely place. The spatial relationships between the
locations, modelled by the Hidden Markov Model
(HMM), are exploited to increase the robustness of
location recognition in cases of dynamic change or visual
similarity. The proposed descriptors are compared with
several state‐of‐the‐art descriptors including SIFT, colour
SIFT, GLOH and SURF. Experiments show that both the
LVFM based on the dominant Hue‐SIFT feature and the
spatial relationships between the locations contribute
considerably to the high recognition rate. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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