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Automatic Place Detection and Localization in Autonomous Robotics

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Chella, A., Macaluso, I. and Riano, Lorenzo (2007) Automatic Place Detection and Localization in Autonomous Robotics. In: IEEE/RSJ International Conference on intelligent Robots and Systems, 2007. IEEE Press. 7 pp. [Conference contribution]

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URL: http://isrc.ulster.ac.uk/images/stories/Staff/Robotics/Members/LRiano/Documents/ciccio.pdf

Abstract

This paper presents an approach for the simultaneous learning and recognition of places applied to autonomous robotics. While noteworthy results have been achieved with respect to off-line training process for appearance-based navigation, novel issues arise when recognition and learning are simultaneous and unsupervised processes. The approach adopted here uses a Gaussian mixture model estimated by a novel incremental MML-EM to model the probability distribution of features extracted by image-preprocessing. A place detector decides which features belong to which place integrating odometric information and a hidden Markov model. Tests demonstrate that the proposed system performs as well as the ones relying on batch off-line environmental learning.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
ID Code:19253
Deposited By:Dr Lorenzo Riano
Deposited On:17 Aug 2011 17:01
Last Modified:17 Aug 2011 17:01

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