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Results 1 - 10
of
6,518
without Geometric Maps
"... Abstract — In this paper we present an algorithm to build a sensor-based, dynamic data structure useful for robot navigation in an unknown, multiply-connected planar environment. This data structure offers a robust framework for robot navigation, avoiding the need of a complete geometric map or expl ..."
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Abstract — In this paper we present an algorithm to build a sensor-based, dynamic data structure useful for robot navigation in an unknown, multiply-connected planar environment. This data structure offers a robust framework for robot navigation, avoiding the need of a complete geometric map
FROM TOPOLOGICAL KNOWLEDGE TO GEOMETRICAL MAP
"... Abstract: The behavioral approach to robot navigation, characterized by a representation of the environment that is topological and robot-environmental interactions that are reactive, is preferable to the pure geometrical navigation because it is far more robust to unpredictable changes of the envir ..."
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of the environment. Nevertheless, there is still a need to obtain geometrical maps. This paper considers a geometrical map reconstruction that relies on the topological knowledge and uses redundant odometric measurements taken while the robot moves along the paths of the topological map. Five methods are presented
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
- Machine Learning
, 1998
"... . This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
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Cited by 483 (43 self)
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. This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from
Geometric Mapping Properties of Semipositive Matrices
, 2015
"... Semipositive matrices map a positive vector to a positive vector and as such they are a very broad generalization of the irreducible nonnegative matrices. Nev-ertheless, the ensuing geometric mapping properties of semipositive matrices result in several parallels to the theory of cone preserving and ..."
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Semipositive matrices map a positive vector to a positive vector and as such they are a very broad generalization of the irreducible nonnegative matrices. Nev-ertheless, the ensuing geometric mapping properties of semipositive matrices result in several parallels to the theory of cone preserving
Optimal Navigation and Object Finding Without Geometric Maps or . . .
- IN PROC. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 2003
"... In this paper we present a dynamic data structure, useful for robot navigation in an unknown, simplyconnected planar environment. The guiding philosophy in this work is to avoid traditional problems such as complete map building and localization by constructing a minimal representation based entirel ..."
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Cited by 36 (10 self)
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there is no geometric map of the environment. We present algorithms for building the data structure in an unknown environment, and for using it to perform optimal navigation. We implemented these algorithms on a real mobile robot. Results are presented in which the robot builds the data structure online, and is able
Non-monotonic Geometric Mapping for Mobile Robots
, 2000
"... A new method of map building for mobile robots is presented which can correct for past mistakes. This ability of correction of past mistakes is critical for building of accurate maps of the environment and for maintaining maps over a period of time. Previous approaches can be divided into grid-b ..."
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Cited by 2 (2 self)
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-based and geometric map building. Grid-based maps are easy to build but do not scale to higher dimensional systems and require considerable storage space. Instead, a geometric mapping method is used here. The mapping problem is cast as a minimisation problem and the map is then constructed by gradient descent
The geometry of graphs and some of its algorithmic applications
- COMBINATORICA
, 1995
"... In this paper we explore some implications of viewing graphs as geometric objects. This approach offers a new perspective on a number of graph-theoretic and algorithmic problems. There are several ways to model graphs geometrically and our main concern here is with geometric representations that res ..."
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Cited by 524 (19 self)
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In this paper we explore some implications of viewing graphs as geometric objects. This approach offers a new perspective on a number of graph-theoretic and algorithmic problems. There are several ways to model graphs geometrically and our main concern here is with geometric representations
Image registration methods: a survey.
, 2003
"... Abstract This paper aims to present a review of recent as well as classic image registration methods. Image registration is the process of overlaying images (two or more) of the same scene taken at different times, from different viewpoints, and/or by different sensors. The registration geometrical ..."
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Cited by 760 (10 self)
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geometrically align two images (the reference and sensed images). The reviewed approaches are classified according to their nature (areabased and feature-based) and according to four basic steps of image registration procedure: feature detection, feature matching, mapping function design, and image
Laplacian eigenmaps and spectral techniques for embedding and clustering.
- Proceeding of Neural Information Processing Systems,
, 2001
"... Abstract Drawing on the correspondence between the graph Laplacian, the Laplace-Beltrami op erator on a manifold , and the connections to the heat equation , we propose a geometrically motivated algorithm for constructing a representation for data sampled from a low dimensional manifold embedded in ..."
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Cited by 668 (7 self)
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Abstract Drawing on the correspondence between the graph Laplacian, the Laplace-Beltrami op erator on a manifold , and the connections to the heat equation , we propose a geometrically motivated algorithm for constructing a representation for data sampled from a low dimensional manifold embedded
Iterative point matching for registration of free-form curves and surfaces
, 1994
"... A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense 3-D maps obtained by using a correlation-based stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in ma ..."
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Cited by 660 (8 self)
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A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense 3-D maps obtained by using a correlation-based stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately
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