Vision Based Localisation for a Mobile Robot
Identifieur interne : 009A61 ( Main/Exploration ); précédent : 009A60; suivant : 009A62Vision Based Localisation for a Mobile Robot
Auteurs : Franck Gechter ; François CharpilletSource :
English descriptors
- KwdEn :
- localization, pca, pomdp, robot, vision.
Abstract
We present a vision based localization system for a mobile robot that uses a representative set of images obtained during an initial exploration of the environment. This set of images makes it possible to represent the environment as a partially markov decision process. The originality of this approach is the resulting data fusion process that uses both image matching and decision made by the robot in order to estimate the set of plausible position of the robot and the associated probabilities. Image matching or recognition is achieved using principal components analysis.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Crin, to step Corpus: 002A83
- to stream Crin, to step Curation: 002A83
- to stream Crin, to step Checkpoint: 001A07
- to stream Main, to step Merge: 00A041
- to stream Main, to step Curation: 009A61
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" wicri:score="380">Vision Based Localisation for a Mobile Robot</title></titleStmt><publicationStmt><idno type="RBID">CRIN:gechter00a</idno><date when="2000" year="2000">2000</date><idno type="wicri:Area/Crin/Corpus">002A83</idno><idno type="wicri:Area/Crin/Curation">002A83</idno><idno type="wicri:explorRef" wicri:stream="Crin" wicri:step="Curation">002A83</idno><idno type="wicri:Area/Crin/Checkpoint">001A07</idno><idno type="wicri:explorRef" wicri:stream="Crin" wicri:step="Checkpoint">001A07</idno><idno type="wicri:Area/Main/Merge">00A041</idno><idno type="wicri:Area/Main/Curation">009A61</idno><idno type="wicri:Area/Main/Exploration">009A61</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Vision Based Localisation for a Mobile Robot</title><author><name sortKey="Gechter, Franck" sort="Gechter, Franck" uniqKey="Gechter F" first="Franck" last="Gechter">Franck Gechter</name></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>localization</term><term>pca</term><term>pomdp</term><term>robot</term><term>vision</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en" wicri:score="2353">We present a vision based localization system for a mobile robot that uses a representative set of images obtained during an initial exploration of the environment. This set of images makes it possible to represent the environment as a partially markov decision process. The originality of this approach is the resulting data fusion process that uses both image matching and decision made by the robot in order to estimate the set of plausible position of the robot and the associated probabilities. Image matching or recognition is achieved using principal components analysis.</div></front></TEI><affiliations><list></list><tree><noCountry><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><name sortKey="Gechter, Franck" sort="Gechter, Franck" uniqKey="Gechter F" first="Franck" last="Gechter">Franck Gechter</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Lorraine/explor/InforLorV4/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 009A61 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 009A61 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Lorraine
|area= InforLorV4
|flux= Main
|étape= Exploration
|type= RBID
|clé= CRIN:gechter00a
|texte= Vision Based Localisation for a Mobile Robot
}}
| This area was generated with Dilib version V0.6.33. |  |