TY - GEN
T1 - Feature map building based on shape similarity for home robot ApriAttenda™
AU - Zhu, Jiang
AU - Ahmad, Nafis
AU - Nakamoto, Hideichi
AU - Matsuhira, Nobuto
PY - 2006/12/1
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,
KW - Feature map
KW - Home robot
KW - Map building
KW - Shape similarity
UR - http://www.scopus.com/inward/record.url?scp=46249092265&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=46249092265&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2006.340370
DO - 10.1109/ROBIO.2006.340370
M3 - Conference contribution
AN - SCOPUS:46249092265
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 1030
EP - 1035
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -