Topological mapping using vision and a sparse distributed memory

被引：0

作者：

Mendes M. ^{[1
]}

Coimbra A.P. ^{[2
]}

Crisóstomo M.M. ^{[2
]}

机构：

[1] ESTGOH, Polytechnic Institute of Coimbra, Oliveira do Hospital 3400-124, R. General Santos Costa

[2] Institute of Systems and Robotics, Pólo II, University of Coimbra

来源：

Lecture Notes in Electrical Engineering | 2011年 / 90 LNEE卷

关键词：

Path planning; Robot navigation; SDM; Sparse distributed memory;

D O I：

10.1007/978-94-007-1192-1_23

中图分类号：

学科分类号：

摘要：

Navigation based on visual memories is very common among humans. However, planning long trips requires a more sophisticated representation of the environment, such as a topological map, where connections between paths are easily noted. The present approach is a system that learns paths by storing sequences of images and image information in a sparse distributed memory (SDM). Connections between paths are detected by exploring similarities in the images, using the same SDM, and a topological representation of the paths is created. The robot is then able to plan paths and switch from one path to another at the connection points. The system was tested under reconstitutions of country and urban environments, and it was able to successfully map, plan paths and navigate autonomously. © 2011 Springer Science+Business Media B.V.

引用

页码：273 / 284

页数：11

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