Metric embedding of view-graphs : AA vision and odometry-based approach to cognitive mapping

Autonomous Robots

Volumn 23, Issue 3, 2007, Pages 183-196

  Hübner, Wolfgang ^a   Mallot, Hanspeter A ^a  

^a UNIVERSITY OF TÜBINGEN   (Germany)

Author keywords

Autonomous map building; Cognitive mapping; Simultaneous localization and mapping

Indexed keywords

ALGORITHMS; COGNITIVE SYSTEMS; COMPUTER VISION; CONSTRAINT THEORY; EMBEDDED SYSTEMS;

AUTONOMOUS MAP BUILDING; COGNITIVE MAPPING; SIMULTANEOUS LOCALIZATION AND MAPPING;

GRAPH THEORY;

EID: 34548496915     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-007-9040-0     Document Type: Article

References (50)

1. Argyros, A. A., Bekris, K. E., & Orphanoudakis, S. C. (2001). Robot homing based on corner tracking in a sequence of a panoramic images. In Proceedings of the IEEE computer society conference on computer vision and pattern recognition (CVPR'01) (Vol. 2).
2. Borenstein, J., & Feng, L. (1996). Measurement and correction of systematic odometry errors in mobile robots. IEEE Transactions on Robotics and Automation, 12(6), 869-880.
3. Borg, I., & Groenen, P. (1997). Modern multidimensional scaling. New York: Springer.
4. Braitenberg, V. (1984). Vehicles. Experiments in synthetic psychology. Cambridge: MIT.
5. Brooks, R. (1986). A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2(1), 1423.
6. Cartwright, B., & Collett, T. (1983). Landmark learning in bees. Journal of Comparative Physiology A, 151, 521-543.
7. Cassinis, R., Duina, D., Inelli, S., & Rizzi, A. (2002). Unsupervised matching of visual landmarks for robotic homing using Fourier Mellin transform. Robotics and Autonomous Systems, 40, 131-138
8. Duckett, T., Marsland, S., & Shapiro, J. (2002). Fast, on-line learning of globally consistent maps. Autonomous Robots, 12(3), 287-300.
9. Floreano, D., & Mondada, F. (1996). Evolution of homing navigation in a real mobile robot. IEEE Transactions on Systems, Man, and Cybernetics, 26, 396-407.
10. Franz, M., Schölkopf, B., Mallot, H., & Bülthof, H. (1998a). Learning view graphs for robot navigation. Autonomous Robots, 5, 111-125.
11. Franz, M., Schölkopf, B., Mallot, H., & Bülthoff, H. (1998b). Where did I take this snapshot? Scene-based homing by image matching. Biological Cybernetics, 79, 191-202.
12. Frese, U., Larsson, P., & Duckett, T. (2004). A multigrid algorithm, for simultaneous localization and mapping. IEEE Transactions on Robotics, 21(2), 1-12.
13. Golfarelli, M., Maio, D., & Rizzi, S. (1998). Elastic correction of dead-reckoning errors in map building. In Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS'98) (pp. 905-911), Victoria, Canada.
14. Golledge, R., & Stimson, R. (1997). Spatial behavior: a geographic perspective. San Francisco: Guilford.
15. Gourichon, S., Meyer, J.-A., & Pirim, P. (2002). Using coloured snapshots for short-range guidance in mobile robots. International Journal of Robotics and Automation, Special issue on Biologically Inspired Robotics, 17(4), 154-162.
16. Gutmann, J.-S., & Konolige, K. (1999). Incremental mapping of large cyclic environments. In Proceedings of the IEEE international symposium on computational intelligence in robotics and automation (CIRA) (pp. 318-325), Monterey, California.
17. Hafner, V., & Möller, R. (2001). Learning of visual navigation strategies. In M. Quoy, P. Gaussier, & J. Wyatt (Eds.), Proceedings of the European workshop on learning robots (EWLR-9) (pp. 47-56), Prague.
18. Hübner, W. (2005). From homing behavior to cognitive mapping, integration of egocentric pose relations and allocentric Landmark information in a graph model. PhD thesis, Universität Bremen.
19. Hutchinson, S., Hager, G., & Corke, P. (1996). A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(5), 651-670.
20. Jähne, B. (Ed.). (1999). Handbook of computer vision and applications. New York: Academic Press.
21. Kaelbling, L., Littman, M., & Moore, A. (1996). Reinforcement learning: a survey. Journal of Artificial Intelligence Research, 4, 237-285.
22. Kuipers, B. (2000). The spatial semantic hierarchy. Artificial Intelligence, 119, 191-233.
23. Lambrinos, D., Möller, R., Labhart, T., Pfeifer, R., & Wehner, R. (2000). A mobile robot employing insect strategies for navigation. Robotics and Autonomous Systems, Special issue on Biomimetic Robots, 30, 39-64.
24. Liu, Y., & Thrun, S. (2003). Results for outdoor-SLAM using sparse extended information filters. In IEEE international conference on robotics and automation (ICRA).
25. Lu, F., & Milios, E. (1994). Robot pose estimation in unknown environments by matching 2D range scans. Journal of Intelligent and Robotic Systems, 18, 249-275.
26. Lu, F., & Milios, E. (1997). Globally consistent range scan alignment for environment mapping. Autonomous Robots, 4, 333-349.
27. MacKay, D. (1992). Information-based objective functions for active data selection. Neural Computation, 4, 590-604.
28. Mallot, H. (1999). Spatial cognition: behavioral competences, neural mechanisms, and evolutionary scaling. Kognitionswissenschaft, 8, 40-48.
29. Mardia, K., Kent, J., & Bibby, J. (1982). Multivariate analysis. New York: Academic Press.
30. Menegatti, E., Zoccaratoa, M., Pagelloa, E., & Ishiguroc, H. (2004). Image-based Monte Carlo localisation with omnidirectional images. Robotics and Autonomous Systems, 48, 17-30.
31. Möller, R. (2000). Insect visual homing strategies in a robot with analog processing. Biological Cybernetics, Special issue: Navigation in Biological and Artificial Systems, 83(3), 231-243.
32. Möller, R., Lambrinos, D., Roggendorf, T., Pfeifer, R., & Wehner, R. (2001). Insect strategies of visual homing in mobile robots. In B. Webb, & T. Consi (Eds.), Biorobotics-methods and applications. Cambridge: AAAI/MIT.
33. Redish, A. (1999). Beyond the cognitive map. Cambridge: MIT.
34. Rizzi, A., Duina, D., Inelli, S., & Cassinis, R. (2001). A novel visual landmark matching for a biologically inspired homing. Pattern Recognition Letters, 22, 1371-1378.
35. Röfer, T. (1997). Controlling a wheelchair with image-based homing, Technical report, AISB Workshop on spatial reasoning in mobile robots and animals. Tech. rep. UMCS-97-4-1, Dept. Computer Sc., Manchester University.
36. Se, S., Lowe, D., & Little, J. (2005). Vision-based global localization and mapping for mobile robots. IEEE Transactions on Robotics, 21(3), 364-375.
37. Sim, R., & Dudek, G. (1998). Mobile robot localization from learned landmarks. In Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS'98) (pp. 1060-1065), Victoria, Canada.
38. Stürzl, W. (2004). Sensorik und Bildverarbeitung für Landmarken-basierte Navigation. PhD thesis, Universität Tübingen.
39. Stürzl, W., & Mallot, H. (2002). Vision-based homing with a panoramic stereo sensor. In Lecture notes in computer science (Vol. 2525, pp. 620-628).
40. Sutton, R., & Barto, A. (1998). Reinforcement learning-an introduction. Cambridge: MIT.
41. Thrun, S., Burgard, W., & Fox, D. (2005). Probabilistic robotics. Cambridge: MIT.
42. Thrun, S., Fox, D., Burgard, W., & Dellaert, F. (2001). Robust Monte Carlo localization for mobile robots. Artificial Intelligence, 128(1-2), 99-141.
43. Thrun, S., Liu, Y., Koller, D., Ng, A., Ghahramani, Z., & Durrant-Whyte, H. (2004). Simultaneous localization and mapping with sparse extended information filters. International Journal of Robotics Research, 23(7-8), 693-716.
44. Vardy, A., & Möller, R. (2005). Biologically plausible visual homing methods based on optical flow techniques. Connection Science, Special issue: Navigation, 17(1-2), 47-89.
45. Vardy, A., & Oppacher, F. (2003). Low-level visual homing. In W. Banzhaf, T. Christaller, P. Dittrich, J. Kim, & J. Ziegler (Eds.), Advances in artificial life, proceedings of the 7th European conference on artificial life (ECAL) (Vol. 2801, pp. 875-884).
46. Vardy, A., & Oppacher, F. (2004). A scale invariant neural feature detector for visual homing. In G. Palm & S. Wermter (Eds.), Proceedings of the workshop on neurobotics, German conference on artificial intelligence.
47. Weber, K., Venkatesh, S., & Srinivasan, M. (1999). Insect-inspired robotic homing. Adaptive Behavior, 7(1), 65-97.
48. Wehner, R., Michel, B., & Antonsen, P. (1996). Visual navigation in insects: coupling of egocentric and geocentric information. Journal of Experimental Biology, 199, 129-140.
49. West, D. (1996). Introduction to graph theory. New York: Prentice-Hall.
50. Whaite, P., & Ferrie, F. (1997). Autonomous exploration: driven by uncertainty. IEEE Transactions on Pattern Analysis and Machine Intelligence, 19, 193-205.