Neuro-evolutive system for ego-motion estimation with a 3D camera

Authors:
Ivan Villaverde;Zelmar Echegoyen;Manuel Graña
Affiliations:
Computational Intelligence Group, University of the Basque Country;Computational Intelligence Group, University of the Basque Country;Computational Intelligence Group, University of the Basque Country
Venue:
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
Year:
2008

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Abstract

A neuro-evolutive system for mobile robot ego-motion estimation using time-of-flight (TOF) 3D camera readings is presented in this paper. It is composed of two modules. First, a Neural Gas adaptative algorithm is used to obtain a set of codevectors quantizing the preprocessed 3D measurements provided by the camera. Second, codevector sets from consecutive frames are matched using an evolutive algorithm in order to estimate the motion of the robot between those two positions.