Environmental modeling with fingerprint sequences for topological global localization

P. Lamon, A. Tapus, E. Glauser, N. Tomatis, R. Siegwart
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)  
In this paper a perception approach allowing for high distinctiveness is presented. The method works in accordance to the fingerprint concept. Such representation allows using a very flexible matching approach based on the minimum energy algorithm. The whole extraction and matching approach is presented in details and viewed in a topological optic, where the matching result can directly be used as observation function for a topological localization approach. The experimentation section will
more » ... date the fingerprint approach and present different set of experiments in order to explain practically the choice of different types of features.
doi:10.1109/iros.2003.1249743 dblp:conf/iros/LamonTGTS03 fatcat:wckw64wqlfdl3afn4spdpq6o3e