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Mobile robot localisation with incremental PCA
Pulec Lah, Suzana (Avtor), Artač, Matej (Avtor), Leonardis, Aleš (Avtor)

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Izvleček
Mobile robots can employ different sensors to collect data about the environment. We propose to use a special sensor (a catadioptric camera) which provides panoramic views at each robot position. To model the environment for later navigation and localisation, we build a representation of the appearance by compressing the set of panoramic images by Principal Component Analysis (PCA). Since the batch application of the PCA is inappropriate in this case, we propose to apply an incremental approach. This leads to novel aspects regarding the adaptation of compressed partial representation. We provide empirical results which indicate the performance of the proposed method is comparable to the performance of the batch method in terms of compression, computational cost, and, most importantly, precision of localisation.

Jezik:Neznan jezik
Ključne besede:computer vision, principal component analysis, mobile robots, omnidirectional vision, visual learning, visual localisation
Vrsta gradiva:Delo ni kategorizirano (r6)
Organizacija:FRI - Fakulteta za računalništvo in informatiko
Leto izida:2002
Založnik:Piscataway: The Institute of Electrical and Electronics Engineers
Št. strani:192-197
Število ogledov:687
Število prenosov:205
Metapodatki:XML RDF-CHPDL DC-XML DC-RDF
 
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