Localization of Mobile Robots Incorporating Scene Information in a Hierarchical ModelShow others and affiliations
2019 (English)In: 2019 Third IEEE International Conference on Robotic Computing (IRC), IEEE, 2019, p. 429-430Conference paper, Published paper (Refereed)
Abstract [en]
The success of mobile robots, specially those operating in human environments, relies on the ability to understand human structures. The aim of this work is to develop a localization framework that considers different scenes and a hierarchical model of the environment. A probabilistic model for recognizing scenes including the objects in the environment is implemented. An efficient hierarchical model formed by different topological representations is used to localize the robot. The localization result is improved by semantic scene information. The experiments developed give preliminary results of our framework working in real environments. They uphold the usefulness of integrating the understanding of the environment in a localization process.
Place, publisher, year, edition, pages
IEEE, 2019. p. 429-430
Keywords [en]
Hierarchical models; Place recognition; Robot Localization; Semantic localization
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:oru:diva-83844DOI: 10.1109/IRC.2019.00084ISI: 000465234300075Scopus ID: 2-s2.0-85064139015ISBN: 978-1-5386-9245-5 (electronic)OAI: oai:DiVA.org:oru-83844DiVA, id: diva2:1448585
Conference
3rd IEEE International Conference on Robotic Computing (IRC), Naples, Italy, February 25-27, 2019.
Note
Funding Agency:
RoboCity2030-DIH-CM project (RoboCity2030 - Madrid Robotics Digital Innovation Hub), Grant Number: S2018/NMT-4331
2020-06-292020-06-292020-07-31Bibliographically approved