Building efficient topological maps for mobile robot localization: An evaluation study on COLD benchmarking database
Rady, Sherine; Wagner, Achim; Badreddin, Essameddin;
Abstract
Topological localization is a qualitative solution approach that can assist obtaining a faster quantitative metric solution by limiting the searchable space. Consequently, its efficiency is an essential requirement in hierarchical localization frameworks. This paper presents a topological map generation method with a localization scheme. Good compromise of performance measures - accuracy, memory and processing time - indicates the method's efficiency. The suggested implementations rely on information-theoretic selection of local features for node distinctive representation, and a visual codebook for compression. Testing the proposed approach on the COLD database, a recent specific benchmarking database for robotic topological mapping and localization, reveals its customization according to the vision sensor and environment characteristics. The approach guarantees over 90% localization accuracy with more than 50% overhead reduction, and is suitable for application in highly unstructured cluttered environments that are influenced by dynamics and illumination variations. ©2010 IEEE.
Other data
Title | Building efficient topological maps for mobile robot localization: An evaluation study on COLD benchmarking database | Authors | Rady, Sherine ; Wagner, Achim; Badreddin, Essameddin | Issue Date | 1-Dec-2010 | Conference | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings | ISBN | 9781424466757 | DOI | 10.1109/IROS.2010.5649670 | Scopus ID | 2-s2.0-78651472697 |
Recommend this item
Similar Items from Core Recommender Database
Items in Ain Shams Scholar are protected by copyright, with all rights reserved, unless otherwise indicated.