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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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
|Deposited By:||Dr Lorenzo Riano|
|Deposited On:||17 Aug 2011 17:01|
|Last Modified:||17 Aug 2011 17:01|
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