کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412875 | 679687 | 2009 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
An appearance-based visual compass for mobile robots
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization, purely based on the visual appearance of a room. A robot using such a visual compass can quickly learn a cylindrical map of the environment, consisting of simple statistical features that can be computed very quickly. The visual compass algorithm is efficient, scalable and can therefore be used in real-time on almost any contemporary robotic platform. Extensive experiments on a Sony Aibo robot have validated that the approach works in a vast variety of environments.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 57, Issue 5, 31 May 2009, Pages 536–545
Journal: Robotics and Autonomous Systems - Volume 57, Issue 5, 31 May 2009, Pages 536–545
نویسندگان
J. Sturm, A. Visser,