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.
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Titolo: | Global Localisation via Sub-Graph Isomorphism | |
Autori: | ||
Data di pubblicazione: | 1999 | |
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. | |
Handle: | http://hdl.handle.net/11567/529327 | |
Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |
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