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Environmental modeling with fingerprint sequences for topological global localization

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5 Author(s)
Lamon, P. ; Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland ; Tapus, A. ; Glauser, E. ; Tomatis, N.
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In this paper a perception approach allowing for high distinctiveness is presented. The method works in accordance to the fingerprint concept. Such representation allows using a very flexible matching approach based on the minimum energy algorithm. The whole extraction and matching approach is presented in details and viewed in a topological optic, where the matching result can directly be used as observation function for a topological localization approach. The experimentation section will validate the fingerprint approach and present different set of experiments in order to explain practically the choice of different types of features.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003