A deformable model-based visual system for mobile robot topologic navigation

Mata, M. E. R. M. C.; Armingol, José María; Escalera, Arturo de la; Rodríguez, Francisco Javier López

doi:10.1109/iros.2003.1249698

Cited by 4 publications

(3 citation statements)

References 15 publications

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“…A topological representation is based on an abstraction of the environment in terms of discrete places (landmarks) with edges connecting them. In [76], present an example of this topological representation, where after of delimited region of interest, used a GA for the landmark search through the image.…”

Section: Map Representation Methodsmentioning

confidence: 99%

Meta-Heuristic Optimization Techniques and Its Applications in Robotics

Cruz-Bernal¹

2013

Recent Advances on Meta-Heuristics and Their Application to Real Scenarios

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Optimization techniques are search methods, where the goal is to find a solution to an optimization problem, such that a given quantity is optimized, possibly subject to a set of constraints. Modern optimization techniques start to demonstrate their power in dealing with hard optimization problems in robotics and automation such as manufacturing cells formation, robot motion planning, worker scheduling, cell assignment, vehicle routing problem, assembly line balancing, shortest sequence planning, sensor placement, unmanned-aerial vehicles (UAV) communication relaying and multirobot coordination to name just a few. By example, in particle, path planning it is a difficult task in robotics, as well as construct and control a robot. The main propose of path planning is find a specific route in order to reach the target destination.

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Section: Map Representation Methodsmentioning

confidence: 99%

Meta-Heuristic Optimization Techniques and Its Applications in Robotics

Cruz-Bernal¹

2013

Recent Advances on Meta-Heuristics and Their Application to Real Scenarios

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“…In other work, landmarks are used to define topological locations in the world. For example, Mata et al demonstrated a system for topological localization using distinctive image regions [14].…”

Section: Related Workmentioning

confidence: 99%

Landmark Selection for Vision-Based Navigation

et al. 2006

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Recent work in the object recognition community has yielded a class of interest-point-based features that are stable under significant changes in scale, viewpoint, and illumination, making them ideally suited to landmark-based navigation. Although many such features may be visible in a given view of the robot's environment, only a few such features are necessary to estimate the robot's position and orientation. In this paper, we address the problem of automatically selecting, from the entire set of features visible in the robot's environment, the minimum (optimal) set by which the robot can navigate its environment. Specifically, we decompose the world into a small number of maximally sized regions, such that at each position in a given region, the same small set of features is visible. We introduce a novel graph theoretic formulation of the problem, and prove that it is NP-complete. Next, we introduce a number of approximation algorithms and evaluate them on both synthetic and real data. Finally, we use the decompositions from the real image data to measure the localization performance versus the undecomposed map.

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“…Existem diversos trabalhos sobre técnicas de criação de mapas topológico na literatura como (Kuipers e tai Byun, 1991), (Mataric, 1990) e (Mata et al, 2003). Em (Thrun et al, 1998b) é apresentado um método para conversão dos mapas métricos em mapas topológicos, resultando em representações mais compactas.…”

Section: Mapas Topológicosunclassified

Mapeamento de ambientes externos utilizando robôs móveis

Hata¹

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AgradecimentosP rimeiramente agradeço ao professor Denis Fernando Wolf pela oportunidade dada para trabalhar junto ao seu grupo de pesquisa, pelos seus ensinamentos científicos, pela sua compreensão e atenção por este trabalho, e acima de tudo, pela sua amizade.Agradeço também aos amigos do LRM (Laboratório de Robótica Móvel) pela assistência oferecida para a execução dos experimentos e a companhia ao longo dos anos. Não poderia também deixar de agradecer as diversas amizades criadas com os alunos do curso de pós-graduação.

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A deformable model-based visual system for mobile robot topologic navigation

Cited by 4 publications

References 15 publications

Meta-Heuristic Optimization Techniques and Its Applications in Robotics

Meta-Heuristic Optimization Techniques and Its Applications in Robotics

Landmark Selection for Vision-Based Navigation

Mapeamento de ambientes externos utilizando robôs móveis

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