Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서일홍 | - |
dc.date.accessioned | 2018-04-02T07:32:29Z | - |
dc.date.available | 2018-04-02T07:32:29Z | - |
dc.date.issued | 2012-11 | - |
dc.identifier.citation | International Conference on Ubiquitous Robots and Ambient Intelligence (URAI),Nov,2012,pp.255-258 | en_US |
dc.identifier.isbn | 978-1-4673-3110-4 | - |
dc.identifier.isbn | 978-1-4673-3111-1 | - |
dc.identifier.isbn | 978-1-4673-3109-8 | - |
dc.identifier.isbn | 978-1-4673-3112-8 | - |
dc.identifier.uri | http://ieeexplore.ieee.org/document/6462988/ | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/54911 | - |
dc.description.abstract | We propose a semantic map representation and human-like navigation strategies for the mobile robot with a monocular camera. First, we develop a method to automatically detect landmarks, which make up a perceived planar region. Next, we build a vision-based map with the detected visual planar landmarks. To build a map with a single camera, we use the concept of bearing-SLAM. The landmark bearings are measured by a camera from the detected planar regions. By measuring two bearings between three feature points in the detected planar regions, we estimate the distance from the robot to the landmark for an observation model. After building a vision-based map, we extract semantic information. The proposed semantic map represents the topology of the environment with nodes (area and landmarks) and their spatial relationships. Next, we attempt to apply human navigation strategies for the robot navigation with semantic map. We apply strategies (path integration, view-dependent place recognition, reorientation, and active searching for additional landmarks) to mobile robots and demonstrate a human-like navigation system based on a semantic map. | en_US |
dc.description.sponsorship | This paper was performed for the Intelligent Robotics Development Program, one of the Frontier R&D Programs funded by the Ministry of Knowledge Economy (MKE). | en_US |
dc.language.iso | en | en_US |
dc.publisher | Copyright 2012, IEEE | en_US |
dc.subject | Semantic map | en_US |
dc.subject | Navigation | en_US |
dc.subject | SLAM | en_US |
dc.subject | spatial relationship | en_US |
dc.subject | Planar | en_US |
dc.title | Semantic Mapping and Navigation with Visual Planar Landmarks | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/URAI.2012.6462988 | - |
dc.relation.page | - | - |
dc.contributor.googleauthor | Ko, Dong Wook | - |
dc.contributor.googleauthor | Yi, Chuho | - |
dc.contributor.googleauthor | Suh, Il Hong | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF ELECTRONIC ENGINEERING | - |
dc.identifier.pid | ihsuh | - |
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