TY - GEN
T1 - A cognitive modeling of space using fingerprints of places for mobile robot navigation
AU - Tapus, Adriana
AU - Siegwart, Roland
PY - 2006/12/27
Y1 - 2006/12/27
N2 - 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.
AB - 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.
KW - Cognitive mapping
KW - Fingerprints of places
KW - Multi-modal perception
KW - Topological navigation
U2 - 10.1109/ROBOT.2006.1641870
DO - 10.1109/ROBOT.2006.1641870
M3 - Conference contribution
AN - SCOPUS:33845654901
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1188
EP - 1193
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -