Indoor navigation based on an inaccurate map using object recognition

Masahiro Tomono, Shin'ichi Yuta

Research output: Contribution to conferencePaper

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
Pages619-624
Number of pages6
Publication statusPublished - 2002 Jan 1
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Conference

Conference2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Tomono, M., & Yuta, S. (2002). Indoor navigation based on an inaccurate map using object recognition. 619-624. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.