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

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11567/529327
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