A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free-space from occupancy grids, thus shifting the map- matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail and simulated experimental results are provided.
Global Localisation via Sub-Graph Isomorphism
PIAGGIO, MAURIZIO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
1999-01-01
Abstract
A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free-space from occupancy grids, thus shifting the map- matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail and simulated experimental results are provided.
File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
