Abstract
This paper presents a navigation system based on an inaccurate map. The map we consider here is a hybrid of topological map and geometrical map so that it can be built easily and permit changes in objects locations. A localization scheme and an object recognition technique are introduced in order to keep the robot pose consistent on such an inaccurate map. To cope with the problem that a path may also be inaccurate on an inaccurate map, the robot corrects the path based on its pose estimated by the localization method while tracking the path. An experiment shows that the robot successfully navigated in an indoor environment, recognizing several kinds of objects.
| Original language | English |
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| Pages | 619-624 |
| Number of pages | 6 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 2002 Sept 30 → 2002 Oct 4 |
Conference
| Conference | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications