Place representation in topological maps based on bubble space
Place representation in topological maps based on bubble space
复制标题
基于气泡空间在拓扑图中放置表示
DOI：
10.1109/icra.2012.6225367
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Isil H. Bozma
中科院分区：
文献类型：
--
作者：
O. Erkent;Isil H. Bozma
地点表示是拓扑地图的一个关键要素。本文提出了一种新的表示拓扑地图中的“地点”（节点）的空间-泡沫。这个模型的新颖之处有两个方面：首先，提出了一种定义泡沫空间的数学形式。这种形式主义扩展了以前提出的气泡内存，以适应两个新的变量-不同的机器人姿势和多个功能。每个气泡表面从机器人的角度来看，保留了传入的传感器数据的局部S2度量关系。其次，对于学习和识别，气泡表面可以被转换成紧凑且旋转不变的气泡描述符，同时可以以增量方式计算。所提出的模型进行评估与支持向量机为基础的决策在两个不同的设置：第一个移动的机器人放置在不同的位置，其次使用基准视觉数据。
Place representation is a key element in topological maps. This paper presents bubble space - a novel representation for “places” (nodes) in topological maps. The novelties of this model are two-fold: First, a mathematical formalism that defines bubble space is presented. This formalism extends previously proposed bubble memory to accommodate two new variables - varying robot pose and multiple features. Each bubble surface preserves the local S2-metric relations of the incoming sensory data from the robot's viewpoint. Secondly, for learning and recognition, bubble surfaces can be transformed into bubble descriptors that are compact and rotationally invariant, while being computable in an incremental manner. The proposed model is evaluated with support vector machine based decision making in two different settings: first with a mobile robot placed in a variety of locations and secondly using benchmark visual data.