A Hybrid Intelligent System for Robot Ego Motion Estimation with a 3D Camera

Authors:
Ivan Villaverde;Manuel Graña
Affiliations:
Computational Inteligence Group, University of the Basque Country,;Computational Inteligence Group, University of the Basque Country,
Venue:
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
Year:
2008

Citing 3
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Abstract

A Hybrid Intelligent System (HIS) for self-localization working on the readings of innovative 3D cameras is presented in this paper. The system includes a preprocessing step for cleaning the 3D camera readings. The HIS consist of two main modules. First the Self-Organizing Map (SOM) is used to provide models of the preprocessed 3D readings of the camera. The 2D grid of the SOM units is assumed as a surface modeling the 3D data obtained from each snapshot of the 3D camera. The second module is an Evolution Strategy, which is used to perform the estimation of the motion of the robot between frames. The fitness function of the Evolution Strategy (ES) is given by the distance computed as the matching of the SOM unit grids.