제어로봇시스템학회:학술대회논문집
- 2004.08a
- /
- Pages.2017-2022
- /
- 2004
A Systematic and Efficient Approach for Data Association in Topological Maps for Mobile Robot using Wavelet Transformation
- Doh, N.L. (Department of Mechanical Engineering, POSTECH) ;
- Lee, K. (Department of Mechanical Engineering, POSTECH) ;
- Chung, W.K. (Department of Mechanical Engineering, POSTECH)
- Published : 2004.08.25
Abstract
Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by