Feature map building based on shape similarity for home robot ApriAttenda™

Jiang Zhu; Nafis Ahmad; Hideichi Nakamoto; Nobuto Matsuhira

doi:10.1109/ROBIO.2006.340370

Feature map building based on shape similarity for home robot ApriAttenda™

Jiang Zhu, Nafis Ahmad, Hideichi Nakamoto, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

Recently, the problem of map building and simultaneous localization is a hot topic in mobile robotics field. In this paper, a feature map building approach based on shape similarity for the development of home robot is presented. In the map building process, the robot is continuously localized as the map is being built. The odometry error between each constitutive step is eliminated by comparing the shape similarity of the corresponding objects in scan obtained from the laser ranger finder against the global map, which was built in the previous step. This developed algorithm is capable of producing faithful global map of indoor environment, as well as handling uncertain information, such as moving objects and fuzzy-shaped objects. The experiment is carried out using home robot ApriAttenda™, developed by Toshiba Corporation,

Original language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages	1030-1035
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2006.340370
Publication status	Published - 2006 Dec 1
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China Duration: 2006 Dec 17 → 2006 Dec 20

Publication series

Name	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Country/Territory	China
City	Kunming
Period	06/12/17 → 06/12/20

Keywords

Feature map
Home robot
Map building
Shape similarity

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBIO.2006.340370

Cite this

Feature map building based on shape similarity for home robot ApriAttenda™. / Zhu, Jiang; Ahmad, Nafis; Nakamoto, Hideichi et al.

2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. 2006. p. 1030-1035 4142007 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhu, J, Ahmad, N, Nakamoto, H & Matsuhira, N 2006, Feature map building based on shape similarity for home robot ApriAttenda™. in 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006., 4142007, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 1030-1035, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 06/12/17. https://doi.org/10.1109/ROBIO.2006.340370

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title = "Feature map building based on shape similarity for home robot ApriAttenda{\texttrademark}",

abstract = "Recently, the problem of map building and simultaneous localization is a hot topic in mobile robotics field. In this paper, a feature map building approach based on shape similarity for the development of home robot is presented. In the map building process, the robot is continuously localized as the map is being built. The odometry error between each constitutive step is eliminated by comparing the shape similarity of the corresponding objects in scan obtained from the laser ranger finder against the global map, which was built in the previous step. This developed algorithm is capable of producing faithful global map of indoor environment, as well as handling uncertain information, such as moving objects and fuzzy-shaped objects. The experiment is carried out using home robot ApriAttenda{\texttrademark}, developed by Toshiba Corporation,",

keywords = "Feature map, Home robot, Map building, Shape similarity",

author = "Jiang Zhu and Nafis Ahmad and Hideichi Nakamoto and Nobuto Matsuhira",

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AU - Ahmad, Nafis

AU - Nakamoto, Hideichi

AU - Matsuhira, Nobuto

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Y1 - 2006/12/1

N2 - Recently, the problem of map building and simultaneous localization is a hot topic in mobile robotics field. In this paper, a feature map building approach based on shape similarity for the development of home robot is presented. In the map building process, the robot is continuously localized as the map is being built. The odometry error between each constitutive step is eliminated by comparing the shape similarity of the corresponding objects in scan obtained from the laser ranger finder against the global map, which was built in the previous step. This developed algorithm is capable of producing faithful global map of indoor environment, as well as handling uncertain information, such as moving objects and fuzzy-shaped objects. The experiment is carried out using home robot ApriAttenda™, developed by Toshiba Corporation,

AB - Recently, the problem of map building and simultaneous localization is a hot topic in mobile robotics field. In this paper, a feature map building approach based on shape similarity for the development of home robot is presented. In the map building process, the robot is continuously localized as the map is being built. The odometry error between each constitutive step is eliminated by comparing the shape similarity of the corresponding objects in scan obtained from the laser ranger finder against the global map, which was built in the previous step. This developed algorithm is capable of producing faithful global map of indoor environment, as well as handling uncertain information, such as moving objects and fuzzy-shaped objects. The experiment is carried out using home robot ApriAttenda™, developed by Toshiba Corporation,

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KW - Map building

KW - Shape similarity

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Feature map building based on shape similarity for home robot ApriAttenda™

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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