Environmental modeling with fingerprint sequences for topological global localization
- 26 October 2006
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 3781-3786
- https://doi.org/10.1109/iros.2003.1249743
Abstract
International audienceIn 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 featuresKeywords
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