A systematic representation of edges in topological maps for mobile robots using wavelet transformation

Nakju Doh, N. Cho, K. Lee, J. Lee, W. K. Chung, S. R. Oh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2822-2827
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005 Dec 1
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Fingerprint

Computational efficiency
Mobile robots
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Doh, N., Cho, N., Lee, K., Lee, J., Chung, W. K., & Oh, S. R. (2005). A systematic representation of edges in topological maps for mobile robots using wavelet transformation. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 2822-2827). [1570541] https://doi.org/10.1109/ROBOT.2005.1570541

A systematic representation of edges in topological maps for mobile robots using wavelet transformation. / Doh, Nakju; Cho, N.; Lee, K.; Lee, J.; Chung, W. K.; Oh, S. R.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 2822-2827 1570541.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Doh, N, Cho, N, Lee, K, Lee, J, Chung, WK & Oh, SR 2005, A systematic representation of edges in topological maps for mobile robots using wavelet transformation. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570541, pp. 2822-2827, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570541
Doh N, Cho N, Lee K, Lee J, Chung WK, Oh SR. A systematic representation of edges in topological maps for mobile robots using wavelet transformation. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 2822-2827. 1570541 https://doi.org/10.1109/ROBOT.2005.1570541
Doh, Nakju ; Cho, N. ; Lee, K. ; Lee, J. ; Chung, W. K. ; Oh, S. R. / A systematic representation of edges in topological maps for mobile robots using wavelet transformation. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 2822-2827
@inproceedings{6b83bb9549f941d8b3fa06167516b4d2,
title = "A systematic representation of edges in topological maps for mobile robots using wavelet transformation",
abstract = "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.",
author = "Nakju Doh and N. Cho and K. Lee and J. Lee and Chung, {W. K.} and Oh, {S. R.}",
year = "2005",
month = "12",
day = "1",
doi = "10.1109/ROBOT.2005.1570541",
language = "English",
isbn = "078038914X",
volume = "2005",
pages = "2822--2827",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - A systematic representation of edges in topological maps for mobile robots using wavelet transformation

AU - Doh, Nakju

AU - Cho, N.

AU - Lee, K.

AU - Lee, J.

AU - Chung, W. K.

AU - Oh, S. R.

PY - 2005/12/1

Y1 - 2005/12/1

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

VL - 2005

SP - 2822

EP - 2827

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -