Biologically inspired visual landmark processing for simultaneous localization and mapping

Prasser, David, Wyeth, Gordon, & Milford, Michael (2004) Biologically inspired visual landmark processing for simultaneous localization and mapping. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Sendai, Japan, p. 730.

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This paper illustrates a method for finding useful visual landmarks for performing simultaneous localization and mapping (SLAM). The method is based loosely on biological principles, using layers of filtering and pooling to create learned templates that correspond to different views of the environment. Rather than using a set of landmarks and reporting range and bearing to the landmark, this system maps views to poses. The challenge is to produce a system that produces the same view for small changes in robot pose, but provides different views for larger changes in pose. The method has been developed to interface with the RatSLAM system, a biologically inspired method of SLAM. The paper describes the method of learning and recalling visual landmarks in detail, and shows the performance of the visual system in real robot tests.

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1 citations in Scopus
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ID Code: 32896
Item Type: Conference Paper
Refereed: Yes
Keywords: path planning, robot vision, testing
DOI: 10.1109/IROS.2004.1389439
ISBN: 0780384636
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)
Deposited On: 24 Jun 2010 00:04
Last Modified: 10 Aug 2011 16:55

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