NDLI: SmartSLAM: localization and mapping across multi-environments

Content Provider	IEEE Xplore Digital Library
Author	Asmar, D.C. Zelek, J.S. Abdallah, S.M.
Copyright Year	2004
Description	Author affiliation: Sch. of Eng., Guelph Univ., Ont., Canada (Asmar, D.C.; Zelek, J.S.)
Abstract	In the absence of absolute localization tools such as GPS, a robot can still successfully navigate by conducting simultaneous localization and mapping (SLAM). All SLAM algorithms to date can only be applied in one environment at a time. In this paper we propose to extend SLAM to multi-environments. In SmartSLAM, the robot first classifies its entourage using environment recognition code and then performs SLAM using landmarks that are appropriate for its surrounding milieu. One thousand images of various indoor and outdoor environments were collected and used as training data for a three-layered feedforward backpropagation neural network. This neural network was then tested on two sets of query images of indoor environments and another two sets of outdoor environments, yielding 83% and 95% correct classification rates for the indoor images and 80% and 79% success rates for the outdoor images.
Starting Page	5240
Ending Page	5245
File Size	546926
Page Count	6
File Format	PDF
ISBN	0780385667
ISSN	1062922X
DOI	10.1109/ICSMC.2004.1401026
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-10-10
Publisher Place	Netherlands
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Neural networks Global Positioning System Navigation Intelligent robots Training data Backpropagation Feedforward neural networks Testing Indoor environments
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
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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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