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Communication Dans Un Congrès Année : 2006

Environmental modeling with fingerprint sequences for topological global localization

Résumé

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.

Dates et versions

hal-01015892 , version 1 (09-04-2015)

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Citer

Pierre Lamon, Adriana Tapus, Etienne Glauser, Nicola Tomatis, Roland Y. Siegwart. Environmental modeling with fingerprint sequences for topological global localization. IROS 2006, Oct 2006, Las Vegas, United States. pp.3781 - 3786, ⟨10.1109/IROS.2003.1249743⟩. ⟨hal-01015892⟩

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