Referenced Items are not available for this document.
This paper addresses the problem of mobile robot self-localization given a polygonal map and a set of observed edge segments. The standard approach uses interpretation tree search with pruning heuristics to match observed edges to map edges. Our approach introduces a preprocessing step in which the map is decomposed into view-invariant regions (VIRs). The VIR decomposition captures information about map edge visibility, and can be used for a variety of robot navigation tasks
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:12
,
Issue:
5
)
Date of Publication: Oct 1996
- Page(s):
- 810 - 816
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 5403129
- Digital Object Identifier :
- 10.1109/70.538985
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Oct 1996
- Sponsored by :
- IEEE Robotics and Automation Society
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