TY - GEN
T1 - A systematic representation of edges in topological maps for mobile robots using wavelet transformation
AU - Doh, N. L.
AU - Cho, N.
AU - Lee, K.
AU - Lee, J.
AU - Chung, W. K.
AU - Oh, S. R.
PY - 2005
Y1 - 2005
N2 - Edges in topological maps have rich information such as shape, numbers of obstacles, locations of obstacles which can be used for a data association. However, no systematic approach on using the edge data for the data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by 27-28 times for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations and experiments show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.
AB - Edges in topological maps have rich information such as shape, numbers of obstacles, locations of obstacles which can be used for a data association. However, no systematic approach on using the edge data for the data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by 27-28 times for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations and experiments show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.
UR - http://www.scopus.com/inward/record.url?scp=33846147349&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846147349&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570541
DO - 10.1109/ROBOT.2005.1570541
M3 - Conference contribution
AN - SCOPUS:33846147349
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2822
EP - 2827
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -