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Signature graphs for effective localization
Luleå tekniska universitet, Institutionen för system- och rymdteknik, EISLAB.
2006 (engelsk)Inngår i: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems: Beijing, China, 9 - 13 October 2006, Piscataway, NJ: IEEE Communications Society, 2006, s. 288-293Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present a novel method for the localization of an autonomous vehicle in two dimensions. Instead of focussing on properties of obstacles, we emphasize the description of free-space. We introduce the concept of signature graphs which is a compact data structure describing available free-space of an environment. It therefore also represents a map of the environment. A signature is an edge in the graph and is defined by seven parameters. An edge indicates that it is possible for the vehicle to move between two graph nodes. The signature graph is flexible and can easily be updated as new information about the environment is collected. We have with an autonomous wheelchair implemented our methods and tests them with successful results.

sted, utgiver, år, opplag, sider
Piscataway, NJ: IEEE Communications Society, 2006. s. 288-293
HSV kategori
Forskningsprogram
Industriell elektronik
Identifikatorer
URN: urn:nbn:se:ltu:diva-29956DOI: 10.1109/IROS.2006.282150ISI: 000245452400048Scopus ID: 2-s2.0-34250660455Lokal ID: 3981b590-d619-11db-8550-000ea68e967bISBN: 1-424-40258-1 (tryckt)OAI: oai:DiVA.org:ltu-29956DiVA, id: diva2:1003183
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems : 09/10/2006 - 15/10/2006
Prosjekter
CASTT - Centre for Automotive Systems Technologies and Testing
Merknad
Godkänd; 2006; 20061228 (ysko)Tilgjengelig fra: 2016-09-30 Laget: 2016-09-30 Sist oppdatert: 2023-09-06bibliografisk kontrollert

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Rönnbäck, SvenBerglund, TomasFredriksson, HåkanHyyppä, Kalevi

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