• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.247-254
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• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.172-179
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• 2006

In this paper, we present a practical place and object recognition method for guiding visitors in building environments. Recognizing places or objects in real world can be a difficult problem due to motion blur and camera noise. In this work, we present a modeling method based on the bidirectional interaction between places and objects for simultaneous reinforcement for the robust recognition. The unification of visual context including scene context, object context, and temporal context is also. The proposed system has been tested to guide visitors in a large scale building environment (10 topological places, 80 3D objects).

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.3
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• pp.223-230
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• 2001

Since self-organizing map (SOM) preserves the topology of ordering in input spaces and trains itself by unsupervised algorithm, it is Llsed in many areas. However, SOM has a shortcoming: structure cannot be easily detcrmined without many trials-and-errors. Structure-adaptive self-orgnizing map (SASOM) which can adapt its structure as well as its weights overcome the shortcoming of self-organizing map: SASOM makes use of structure adaptation capability to place the nodes of prototype vectors into the pattern space accurately so as to make the decision boundmies as close to the class boundaries as possible. In this scheme, the initialization of weights of newly adapted nodes is important. This paper proposes a method which optimizes SASOM with genetic algorithm (GA) to determines the weight vector of newly split node. The leanling algorithm is a hybrid of unsupervised learning method and supervised learning method using LVQ algorithm. This proposed method not only shows higher performance than SASOM in terms of recognition rate and variation, but also preserves the topological order of input patterns well. Experiments with 2D pattern space data and handwritten digit database show that the proposed method is promising.