hh.sePublikasjoner
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0003-3498-0783
Örebro University, Örebro, Sweden . (Mobile Robotics & Olfaction lab of AASS)ORCID-id: 0000-0001-8658-2985
Massachusetts Institute of Technology, Cambridge, MA, USA. (Robotic Mobility Group)
2018 (engelsk)Inngår i: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 3, nr 3, s. 2040-2047Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

We propose a method based on a nonlinear transformation for nonrigid alignment of maps of different modalities, exemplified with matching partial and deformed two-dimensional maps to layout maps. For two types of indoor environments, over a dataset of 40 maps, we have compared the method to state-of-the-art map matching and nonrigid image registration methods and demonstrate a success rate of 80.41% and a mean point-to-point alignment error of 1.78 m, compared to 31.9% and 10.7 m for the best alternative method. We also propose a fitness measure that can quite reliably detect bad alignments. Finally, we show a use case of transferring prior knowledge (labels/segmentation), demonstrating that map segmentation is more consistent when transferred from an aligned layout map than when operating directly on partial maps (95.97% vs. 81.56%). © 2018 IEEE.

sted, utgiver, år, opplag, sider
Piscataway, NJ: IEEE, 2018. Vol. 3, nr 3, s. 2040-2047
Emneord [en]
mapping
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-36604DOI: 10.1109/LRA.2018.2806439OAI: oai:DiVA.org:hh-36604DiVA, id: diva2:1197163
Konferanse
2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 21-25, 2018
Forskningsfinansiär
Knowledge FoundationTilgjengelig fra: 2018-04-12 Laget: 2018-04-12 Sist oppdatert: 2018-05-02bibliografisk kontrollert
Inngår i avhandling
1. Interpretation and Alignment of 2D Indoor Maps: Towards a Heterogeneous Map Representation
Åpne denne publikasjonen i ny fane eller vindu >>Interpretation and Alignment of 2D Indoor Maps: Towards a Heterogeneous Map Representation
2018 (engelsk)Doktoravhandling, med artikler (Annet vitenskapelig)
Abstract [en]

Mobile robots are increasingly being used in automation solutions with notable examples in service robots, such as home-care, and warehouses. Autonomy of mobile robots is particularly challenging, since their work space is not deterministic, known a priori, or fully predictable. Accordingly, the ability to model the work space, that is robotic mapping, is among the core technologies that are the backbone of autonomous mobile robots. However, for some applications the abilities of mapping and localization do not meet all the requirements, and robots with an enhanced awareness of their surroundings are desired. For instance, a map augmented with semantic labels is instrumental to support Human-Robot Interaction and high-level task planning and reasoning.This thesis addresses this requirement through an interpretation and integration of multiple input maps into a semantically annotated heterogeneous representation. The heterogeneity of the representation should to contain different interpretations of an input map, establish and maintain associations among different input sources, and construct a hierarchy of abstraction through model-based representation. The structuring and construction of this representation are at the core of this thesis, and the main objectives are: a) modeling, interpretation, semantic annotation, and association of the different data sources into a heterogeneous representation, and b) improving the autonomy of the aforementioned processes by curtailing the dependency of the methods on human input, such as domain knowledge.This work proposes map interpretation techniques, such as abstract representation through modeling and semantic annotation, in an attempt to enrich the final representation. In order to associate multiple data sources, this work also proposes a map alignment method. The contributions and general observations that result from the studies included in this work could be summarized as: i) manner of structuring the heterogeneous representation, ii) underlining the advantages of modeling and abstract representations, iii) several approaches to semantic annotation, and iv) improved extensibility of methods by lessening their dependency on human input.The scope of the work has been focused on 2D maps of well-structured indoor environments, such as warehouses, home, and office buildings.

sted, utgiver, år, opplag, sider
Halmstad: Halmstad University Press, 2018. s. 180
Serie
Halmstad University Dissertations ; 46
Emneord
Robotics, Mobile Robots, Autonomous Robots, Robot Perception, Robotic Mapping, Map Interpretation, Semantic Mapping, Place Categorization, Place Labeling, Semantic Annotation, Map Alignment, Region Segmentation, Region Decomposition, Map Representation, Heterogeneous Representation
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-36699 (URN)978-91-87045-96-7 (ISBN)978-91-87045-97-4 (ISBN)
Disputas
2018-06-14, O103, Linjegatan 12, Halmstad, 10:15 (engelsk)
Opponent
Veileder
Tilgjengelig fra: 2018-05-04 Laget: 2018-04-27 Sist oppdatert: 2019-04-25bibliografisk kontrollert

Open Access i DiVA

saesha2018non(2271 kB)121 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 2271 kBChecksum SHA-512
c85cd428a98783419d2722e7d8a5b7e6c2a3c71f66d13991691228c0a16199b06905a0c758618dc32c965998b1dcd63a089355ef9dca4f20d405196c3d99555e
Type fulltextMimetype application/pdf

Andre lenker

Forlagets fulltekst

Personposter BETA

Gholami Shahbandi, SaeedIagnemma, Karl

Søk i DiVA

Av forfatter/redaktør
Gholami Shahbandi, SaeedMagnusson, MartinIagnemma, Karl
Av organisasjonen
I samme tidsskrift
IEEE Robotics and Automation Letters

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 121 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

doi
urn-nbn

Altmetric

doi
urn-nbn
Totalt: 156 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf