대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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- Pages.1010-1013
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- 2003
Eigenspace를 이용한 신경회로망 기반의 로봇 위치 인식 시스템
Neural Network-based place localization for a mobile Robot using eigenspace
- 발행 : 2003.11.21
초록
This paper describes an algorithm for determining robot location using appearance-based paradigm. This algorithm compress the image set using PCA(principal component analysis) to obtain a low-dimensional subspace, called the eigenspace, and it makes a manifold that represent a continuous-appearance function. To determine robot location, given an unknown input image, the recognition system first projects the image to eigenspace. Neural network use coefficients of the eigenspace to estimate the location of the mobile robot. The algorithm has been implemented and tested on a mobile robot system. In several trials it computes location accurately.