Object-based localization and mapping using loop constraints and geometric prior knowledge

Masahiro Tomono, Shinichi Yuta

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

24 Citations (Scopus)

Abstract

This paper presents a method of building a structured map which consists of objects such as furniture. We represent a map as a graph, in which a node represents an object and an arc represents a relative pose between objects. The robot localizes itself and builds a map using odometry readings and sensor data obtained by object recognition. To correct the map distortion caused by errors in the data, the robot utilizes loops as geometric constraints, and imports geometric knowledge provided by a hand-made map. Experiments show that the robot successfully built a map of corridors, and a map of a room having many objects.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages862-867
Number of pages6
Volume1
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period03/9/1403/9/19

Fingerprint

Robots
Object recognition
Sensors
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Tomono, M., & Yuta, S. (2003). Object-based localization and mapping using loop constraints and geometric prior knowledge. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 862-867)

Object-based localization and mapping using loop constraints and geometric prior knowledge. / Tomono, Masahiro; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2003. p. 862-867.

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

Tomono, M & Yuta, S 2003, Object-based localization and mapping using loop constraints and geometric prior knowledge. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, pp. 862-867, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 03/9/14.
Tomono M, Yuta S. Object-based localization and mapping using loop constraints and geometric prior knowledge. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. 2003. p. 862-867
Tomono, Masahiro ; Yuta, Shinichi. / Object-based localization and mapping using loop constraints and geometric prior knowledge. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2003. pp. 862-867
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