NDLI: Rotation-invariant appearance based maps for robot navigation using an artificial immune network algorithm

Content Provider	IEEE Xplore Digital Library
Author	Neal, M. Labrosse, F.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., Wales Univ., Aberystwyth, UK (Neal, M.; Labrosse, F.)
Abstract	The treatment of image data for robotic applications such as navigation, path planning and localization has always been problematic when working in image space (using the appearance of the environment) rather than in Cartesian space (using the geometry of the environment). This is due to both computational overhead introduced by the large amount of data that needs to be manipulated and the high-dimensionality of the image space. We present results from an approach using an artificial immune network construction algorithm which dramatically reduces the dimensionality of the image space and generates network structures useful for navigation and localization. The technique uses the artificial immune network mechanism to link images with similar properties, thus corresponding to similar poses of the robot, into a network which can be displayed in two dimensions. This generates an intuitive representation of the environment which the robot has experienced in a way which can also be traversed in order to perform path-planning in the space of visual experiences. A network generated as a mobile robot moves around in its environment is presented, and related topologically to the movements made by the robot. Properties of the networks produced are discussed with relation to the visual complexity of the environment experienced by the robot. In general, regions of the environment which appear homogeneous produce fewer nodes and edges in the network, and regions of a more heterogeneous appearance produce denser, more highly connected network structures.
Sponsorship	IEEE Neural Network Soc. Evolutionary Programming Soc. IEE
Starting Page	863
Ending Page	870
File Size	568079
Page Count	8
File Format	PDF
ISBN	0780385152
DOI	10.1109/CEC.2004.1330951
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Orbital robotics Sonar navigation Principal component analysis Path planning Computational geometry Artificial immune systems Immune system Computer science Application software
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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