Induction of Topological Environment Maps from Sequences of Visited Places
Werner, Felix, Gretton, Charles, Maire, Frederic D., & Sitte, Joaquin (2008) Induction of Topological Environment Maps from Sequences of Visited Places. In International Conference on Intelligent Robots and Systems (IROS), September, 22-26, 2008, Nice, France. (In Press)
In this paper we address the problem of topologically mapping environments which contain inherent perceptual aliasing caused by repeated environment structures. We propose an approach that does not use motion or odometric information but only a sequence of deterministic measurements observed by traversing an environment. Our algorithm implements a stochastic local search to build a small map which is consistent with local adjacency information extracted from a sequence of observations. Moreover, local adjacency information is incorporated to disambiguate places which are physically different but appear identical to the robots senses. Experiments show that the proposed method is capable of mapping environments with a high degree of perceptual aliasing, and that it infers a small map quickly.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Pattern Recognition and Data Mining (080109)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Science and Technology|
|Copyright Owner:||Copyright 2008 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||03 Jul 2008|
|Last Modified:||29 Feb 2012 23:49|
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