| Título: | Localization through omnivision for a tour-guide robot |
| Autores: |
Gamallo Solórzano, Cristina Quintía Vidal, Pablo Vázquez Regueiro, Carlos Mucientes Molina, Manuel |
| Fecha: |
2009-11-23 2009-11-23 2009-01 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Global localization Omnivision Tour-guide robot Kidnapping problem Ciencia de la Computación e Inteligencia Artificial |
| Descripción: |
The localization of a mobile robot in a real environment is a complex task. In this paper, an algorithm that solves the global localization is presented. The proposal is based on a merit function that ranks different possible poses obtained from the acquired image, together with an iterative process for the minimization of that function using a particle filter. Landmark detection has been done with an omnidirectional camera pointing to the ceiling, combined with an infrared passband filter which extracts the lights. Several real experiments, both for global localization and the kidnapped robot problem, have been done in a museum. Results show a high accuracy, robustness, and real-time execution in this complex and crowded environment. This work has been partially supported by the Galician Regional Government and the Spanish Government through grants PGIDIT- TIC206011PR, TIN2005-03844, INCITE08PXIB262202PR and TIN2008-04008/TSI. |
| Idioma: | Inglés |
1 Choosing the correct paradigm for unknown words in rule-based machine translation systems por Sánchez Cartagena, Víctor Manuel,Esplà Gomis, Miquel,Sánchez Martínez, Felipe,Pérez Ortiz, Juan Antonio | 6 Análisis Real de Varias Variables II. Problemas (27-3-2013) por Conde Calero, Juan Manuel |
2 Using external sources of bilingual information for on-the-fly word alignment por Esplà Gomis, Miquel,Sánchez Martínez, Felipe,Forcada Zubizarreta, Mikel L. | 7 Introducción a mirada/s trans/identitarias,Introduction to trans-identitary look(s) por Amaro Quintas, Ángel Manuel |
3 | 8 |
4 | 9 |
5 Los espacios periurbanos en el área ibérica contestana: las novedades y algunas reflexiones históricas por Sala Sellés, Feliciana | 10 Matrimonio igualitario y parentesco: discursos, hegemonías y acontecimiento,Egalitarian marriage and kinship: discourses, hegemony and event por Buzaglo, Analía,Morandi, Mariela,Culla, Mónica |