NDLI: Information based indoor environment robotic exploration and modeling using 2-D images and graphs

Content Provider	Springer Nature Link
Author	Sujan, Vivek A. Meggiolaro, Marco A. Belo, Felipe A. W.
Copyright Year	2006
Abstract	As the autonomy of personal service robotic systems increases so has their need to interact with their environment. The most basic interaction a robotic agent may have with its environment is to sense and navigate through it. For many applications it is not usually practical to provide robots in advance with valid geometric models of their environment. The robot will need to create these models by moving around and sensing the environment, while minimizing the complexity of the required sensing hardware. Here, an information-based iterative algorithm is proposed to plan the robot's visual exploration strategy, enabling it to most efficiently build a graph model of its environment. The algorithm is based on determining the information present in sub-regions of a 2-D panoramic image of the environment from the robot's current location using a single camera fixed on the mobile robot. Using a metric based on Shannon's information theory, the algorithm determines potential locations of nodes from which to further image the environment. Using a feature tracking process, the algorithm helps navigate the robot to each new node, where the imaging process is repeated. A Mellin transform and tracking process is used to guide the robot back to a previous node. This imaging, evaluation, branching and retracing its steps continues until the robot has mapped the environment to a pre-specified level of detail. The set of nodes and the images taken at each node are combined into a graph to model the environment. By tracing its path from node to node, a service robot can navigate around its environment. This method is particularly well suited for flat-floored environments. Experimental results show the effectiveness of this algorithm.
Starting Page	15
Ending Page	28
Page Count	14
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	21
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2006-04-22
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Mobile robots Localization Map building SLAM Information theory Mechanical Engineering Artificial Intelligence (incl. Robotics) Simulation and Modeling Computer Imaging, Graphics and Computer Vision Automation and Robotics Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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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