Indoor navigation based on an inaccurate map using object recognition

Masahiro Tomono, Shinichi Yuta

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

2 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages619-624
Number of pages6
Volume1
Publication statusPublished - 2002
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityLausanne
Period02/9/3002/10/4

Fingerprint

Object recognition
Navigation
Robots
Navigation systems
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tomono, M., & Yuta, S. (2002). Indoor navigation based on an inaccurate map using object recognition. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 619-624)

Indoor navigation based on an inaccurate map using object recognition. / Tomono, Masahiro; Yuta, Shinichi.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2002. p. 619-624.

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

Tomono, M & Yuta, S 2002, Indoor navigation based on an inaccurate map using object recognition. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 619-624, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, 02/9/30.
Tomono M, Yuta S. Indoor navigation based on an inaccurate map using object recognition. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2002. p. 619-624
Tomono, Masahiro ; Yuta, Shinichi. / Indoor navigation based on an inaccurate map using object recognition. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2002. pp. 619-624
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