NDLI: Markov-localization through color features comparison

Content Provider	IEEE Xplore Digital Library
Author	Castelnovi, M. Sgorbissa, A. Zaccaria, R.
Copyright Year	2004
Description	Author affiliation: Laboratorium DIST, Genova Univ., Italy (Castelnovi, M.; Sgorbissa, A.; Zaccaria, R.)
Abstract	Self-localization plays a fundamental role in all the activities of a service mobile robot, from simple point-to-point navigation to complex fetch-and-carry tasks. In particular, in presence of an environment which changes dynamically, a trade-off must be found between apparently opposite characteristics: uniqueness (i.e. the ability to univocally recognize every location in the environment) and ductility (i.e. the ability to recognize a location of the environment in spite of small changes). The paper shows a vision-based approach which exploits color analysis and clustering to match perceptions with a pre-stored model of the environment, and relies on a Markovian model to update a probability density over the possible robot's configurations.
Sponsorship	IEEE Control Syst. Soc
Starting Page	437
Ending Page	442
File Size	457413
Page Count	6
File Format	PDF
ISBN	0780386353
ISSN	21589860
DOI	10.1109/ISIC.2004.1387723
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-04
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Navigation Mobile robots Character recognition Robot vision systems Sensor phenomena and characterization Sensor systems Simultaneous localization and mapping Orbital robotics Laboratories
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
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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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