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PRICAI
2004
Springer

Covisibility-Based Map Learning Method for Mobile Robots

9 years 2 months ago
Covisibility-Based Map Learning Method for Mobile Robots
In previous work, we proposed a unique landmark-based map learning method for mobile robots based on the “co-visibility” information i.e., very coarse qualitative information on “whether two objects are visible together or not”. In this paper, we introduce two major enhancements to this method: (1) automatic optimization of distance estimation function, and (2) weighting of observation information based on reliability. Simulation results show that these enhancements improve the performance of this proposed method dramatically, not only in the qualitative accuracy measure, but also in the quantitative measure.
Takehisa Yairi
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where PRICAI
Authors Takehisa Yairi
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