By Topic

Selecting targets for local reference frames

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Simhon, S. ; Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada ; Dudek, G.

Addresses the problem of seeking out parts of the environment that provide adequate features in order to perform robot localization. The objective is to choose good regions in which local metric maps can be established. A distinctiveness measure is defined as a measure of how well the environment allows the robot to accomplish a task, in our case the task being localization. The distinctiveness measure is evaluated as a function of both the localization strategy and the environment. Areas in the environment are considered to have high distinctiveness measures if they exhibit both sufficient spatial structure and good sensor feedback. The problem is treated as defining an evaluation criterion based on the usefulness of gathered information

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998