Feature map building based on shape similarity for home robot ApriAttenda™

Jiang Zhu, Nafis Ahmad, Hideichi Nakamoto, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Recently, the problem of map building and simultaneous localization is a hot topic in mobile robotics field. In this paper, a feature map building approach based on shape similarity for the development of home robot is presented. In the map building process, the robot is continuously localized as the map is being built. The odometry error between each constitutive step is eliminated by comparing the shape similarity of the corresponding objects in scan obtained from the laser ranger finder against the global map, which was built in the previous step. This developed algorithm is capable of producing faithful global map of indoor environment, as well as handling uncertain information, such as moving objects and fuzzy-shaped objects. The experiment is carried out using home robot ApriAttenda™, developed by Toshiba Corporation,

Original languageEnglish
Title of host publication2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages1030-1035
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China
Duration: 2006 Dec 172006 Dec 20

Publication series

Name2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
CountryChina
CityKunming
Period06/12/1706/12/20

Keywords

  • Feature map
  • Home robot
  • Map building
  • Shape similarity

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering

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