Visual impression localization of autonomous robots

Somar Boubou, A. H.Abdul Hafez, Einoshin Suzuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper proposes a novel localization approach based on visual impressions. We define a visual impression as the representation of a HSV color distribution of a place. The representation uses clustering feature (CF) tree to manage the color distribution and we propose to weight each CF entry to indicate its importance. The method compares the navigating tree, which is created by the robot from its observations, with the available reference trees of the environment. In addition, we propose a new similarity measure to compare two CF trees which represent the visual impressions of the corresponding two places. The method is tested on two data sets collected in different environments. The results of the experiments show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2015 IEEE Conference on Automation Science and Engineering
Subtitle of host publicationAutomation for a Sustainable Future, CASE 2015
PublisherIEEE Computer Society
Pages328-334
Number of pages7
ISBN (Electronic)9781467381833
DOIs
Publication statusPublished - Oct 7 2015
Event11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden
Duration: Aug 24 2015Aug 28 2015

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2015-October
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other11th IEEE International Conference on Automation Science and Engineering, CASE 2015
CountrySweden
CityGothenburg
Period8/24/158/28/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Boubou, S., Hafez, A. H. A., & Suzuki, E. (2015). Visual impression localization of autonomous robots. In 2015 IEEE Conference on Automation Science and Engineering: Automation for a Sustainable Future, CASE 2015 (pp. 328-334). [7294100] (IEEE International Conference on Automation Science and Engineering; Vol. 2015-October). IEEE Computer Society. https://doi.org/10.1109/CoASE.2015.7294100