El CRAI romandrà tancat del 24 de desembre de 2025 al 6 de gener de 2026. La validació de documents es reprendrà a partir del 7 de gener de 2026.
El CRAI permanecerá cerrado del 24 de diciembre de 2025 al 6 de enero de 2026. La validación de documentos se reanudará a partir del 7 de enero de 2026.
From 2025-12-24 to 2026-01-06, the CRAI remain closed and the documents will be validated from 2026-01-07.
 
Miniatura

Fitxers

258211.pdf (1.74 MB)

Tipus de document

Llibre

Versió

Versió publicada

Data de publicació

2011-10-26

Llicència de publicació

cc by (c) Jauregi, Ekaitz et al., 2011
Si us plau utilitzeu sempre aquest identificador per citar o enllaçar aquest document: https://hdl.handle.net/2445/175805

Robotic Exploration: Place Recognition as a Tipicality Problem

Títol de la revista

Autors

Director/Tutor

ISSN de la revista

Títol del volum

Recurs relacionat

10.5772/26330

Resum

Autonomous exploration is one of the main challenges of robotic researchers. Exploration requires navigation capabilities in unknown environments and hence, the robots should be endowed not only with safe moving algorithms but also with the ability to recognise visited places. Frequently, the aim of indoor exploration is to obtain the map of the robot’s environment, i.e. the mapping process. Not having an automatic mapping mechanism represents a big burden for the designer of the map because the perception of robots and humans differs significantly from each other. In addition, the loop-closing problem must be addressed, i.e. correspondences among already visited places must be identified during the mapping process. In this chapter, a recent method for topological map acquisition is presented. The nodes within the obtained topologicalmap do not represent single locations but contain information about areas of the environment. Each time sensor measurements identify a set of landmarks that characterise a location, the method must decide whether or not it is the first time the robot visits that location. From a statistical point of view, the problem we are concerned with is the typicality problem, i.e. the identification of new classes in a general classification context. We addressed the problem using the so-called INCA statistic which allows one to perform a typicality test (Irigoien & Arenas, 2008). In this approach, the analysis is based on the distances between each pair of units. This approach can be complementary to the more traditional approach units × measurements – or features – and offers some advantages over it. For instance, an important advantage is that once an appropriate distance metric between units is defined, the distance- based method can be applied regardless of the type of data or the underlying probability distribution.

Matèries

Robòtica, Moviment

Matèries (anglès)

Robotics, Motion

Citació

Col·leccions

Llibres / Capítols de llibre (Genètica, Microbiologia i Estadística)

Citació

JAUREGI, Ekaitz, IRIGOIEN, Itziar, LAZKANO, Elena, SIERRA, Basilio, ARENAS SOLÀ, Concepción. Robotic Exploration: Place Recognition as a Tipicality Problem. _Chapter 15 in: Gacovski_. Zoran. 20xx. Mobile Robots - Current Trends. IntechOpen. ISBN: 978-953-51-5623-9. DOI: 10.5772/2305. pp: 319-344.. [consulta: 8 de gener de 2026]. [Disponible a: https://hdl.handle.net/2445/175805]

Exportar metadades

JSON - METS

Compartir registre