From Topological Knowledge to Geometrical Map
نویسندگان
چکیده
منابع مشابه
From Topological Knowledge to Geometrical Map
The behavioral approach to robot navigation, characterized by a representation of the environment that is topological and robot-environmental interactions that are reactive, is preferable to the pure geometrical navigation because it is far more robust to unpredictable changes of the environment. Nevertheless, there is still a need to obtain geometrical maps. This paper considers a geometrical ...
متن کاملTopological map learning from outdoor image sequences
We propose an approach to building topological maps of environments based on image sequences. The central idea is to use manifold constraints to find representative feature prototypes, so that images can be related to each other, and thereby to camera poses in the environment. Our topological map is built incrementally, performing well after only a few visits to a location. We compare our metho...
متن کاملTopological Map Merging
When multiple robots cooperatively explore an environment, maps from individual robots must be merged to produce a single globally consistent map. This is a difficult problem when the robots do not have a common reference frame or global positioning. In this paper, we describe an algorithm for merging embedded topological maps. Topological maps provide a concise description of the navigability ...
متن کاملGeometrical versus Topological Properties of Manifolds
Given a compact n-dimensional immersed Riemannian manifold Mn in some Euclidean space we prove that if the Hausdorff dimension of the singular set of the Gauss map is small, then Mn is homeomorphic to the sphere Sn. Also, we define a concept of finite geometrical type and prove that finite geometrical type hypersurfaces with small set of points of zero GaussKronecker curvature are topologically...
متن کاملMixed Topological Map
We propose a new algorithm which is based on a topological map model and dedicated to mixed data, with numerical and binary components. The algorithm computes directly the referent vectors, as mixed data vectors sharing the same interpretation with the observations. The method is validated on a real data related to the ocean colour domain.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 1998
ISSN: 1474-6670
DOI: 10.1016/s1474-6670(17)44065-1