The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Topological Localization of Mobile Robots in Real Indoor Environment

실제 실내 환경에서 이동로봇의 위상학적 위치 추정

  • 박영빈 (한양대학교 전자컴퓨터통신공학과) ;
  • 서일홍 (한양대학교 전자컴퓨터통신공학과) ;
  • 최병욱 (한양대학교 전자컴퓨터통신공학과)
  • Received : 2008.11.13
  • Accepted : 2008.12.30
  • Published : 2009.02.27
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Abstract

One of the main problems of topological localization in a real indoor environment is variations in the environment caused by dynamic objects and changes in illumination. Another problem arises from the sense of topological localization itself. Thus, a robot must be able to recognize observations at slightly different positions and angles within a certain topological location as identical in terms of topological localization. In this paper, a possible solution to these problems is addressed in the domain of global topological localization for mobile robots, in which environments are represented by their visual appearance. Our approach is formulated on the basis of a probabilistic model called the Bayes filter. Here, marginalization of dynamics in the environment, marginalization of viewpoint changes in a topological location, and fusion of multiple visual features are employed to measure observations reliably, and action-based view transition model and action-associated topological map are used to predict the next state. We performed experiments to demonstrate the validity of our proposed approach among several standard approaches in the field of topological localization. The results clearly demonstrated the value of our approach.

Keywords

References

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