Environmental Modeling with Fingerprint Sequences for Topological Global Localization

Pierre Lamon; Adriana Tapus; Etienne Glauser; Nicola Tomatis; Roland Siegwart

Environmental Modeling with Fingerprint Sequences for Topological Global Localization

Pierre Lamon
, Adriana Tapus
, Etienne Glauser
, Nicola Tomatis
, Roland Siegwart

Ecole Polytechnique Fédérale de Lausanne (EPFL)
ENAC-IIC-GEL

Research output: Contribution to conference › Paper › peer-review

36 Citations (Scopus)

Abstract

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.

Original language	English
Pages	3781-3786
Number of pages	6
Publication status	Published - 26 Dec 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 27 Oct 2003 → 31 Oct 2003

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	27/10/03 → 31/10/03

Cite this

@conference{692006590a0149478b3c0c27ad31681f,

title = "Environmental Modeling with Fingerprint Sequences for Topological Global Localization",

abstract = "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.",

author = "Pierre Lamon and Adriana Tapus and Etienne Glauser and Nicola Tomatis and Roland Siegwart",

year = "2003",

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note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

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TY - CONF

T1 - Environmental Modeling with Fingerprint Sequences for Topological Global Localization

AU - Lamon, Pierre

AU - Tapus, Adriana

AU - Glauser, Etienne

AU - Tomatis, Nicola

AU - Siegwart, Roland

PY - 2003/12/26

Y1 - 2003/12/26

N2 - 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.

AB - 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.

M3 - Paper

AN - SCOPUS:0346778810

SP - 3781

EP - 3786

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -