A cognitive modeling of space using fingerprints of places for mobile robot navigation

Adriana Tapus; Roland Siegwart

doi:10.1109/ROBOT.2006.1641870

A cognitive modeling of space using fingerprints of places for mobile robot navigation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this work we address the problem of perception, spatial cognition and topological navigation for a mobile robot. The objective of this work is to enable the navigation of an autonomous mobile robot (or vehicle) in an indoor (or outdoor) structured environment without relying on maps a priori learned and without using artificial landmarks. A new method for incremental and automatic topological mapping and global localization using fingerprints of places is presented. The fingerprint-based representation permits a reliable, compact and distinctive environment-modeling. Experimental results for mapping indoor and outdoor environments with a mobile robot and a "SMART" vehicle, both equipped with a multi-sensor system composed of two 180° laser range finders and an omni-directional camera are also reported.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1188-1193
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641870
Publication status	Published - 27 Dec 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	15/05/06 → 19/05/06

Keywords

Cognitive mapping
Fingerprints of places
Multi-modal perception
Topological navigation

Access to Document

10.1109/ROBOT.2006.1641870

Cite this

Tapus, A., & Siegwart, R. (2006). A cognitive modeling of space using fingerprints of places for mobile robot navigation. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1188-1193). Article 1641870 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641870

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title = "A cognitive modeling of space using fingerprints of places for mobile robot navigation",

abstract = "In this work we address the problem of perception, spatial cognition and topological navigation for a mobile robot. The objective of this work is to enable the navigation of an autonomous mobile robot (or vehicle) in an indoor (or outdoor) structured environment without relying on maps a priori learned and without using artificial landmarks. A new method for incremental and automatic topological mapping and global localization using fingerprints of places is presented. The fingerprint-based representation permits a reliable, compact and distinctive environment-modeling. Experimental results for mapping indoor and outdoor environments with a mobile robot and a {"}SMART{"} vehicle, both equipped with a multi-sensor system composed of two 180° laser range finders and an omni-directional camera are also reported.",

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author = "Adriana Tapus and Roland Siegwart",

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series = "Proceedings - IEEE International Conference on Robotics and Automation",

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booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

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Tapus, A & Siegwart, R 2006, A cognitive modeling of space using fingerprints of places for mobile robot navigation. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641870, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1188-1193, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641870

A cognitive modeling of space using fingerprints of places for mobile robot navigation. / Tapus, Adriana; Siegwart, Roland.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1188-1193 1641870 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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