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

N. L. 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 of the 2005 IEEE International Conference on Robotics and Automation
Pages2822-2827
Number of pages6
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Doh, N. L., 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 of the 2005 IEEE International Conference on Robotics and Automation (pp. 2822-2827). [1570541] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570541