Algorithms for clustering data
Algorithms for clustering data
Characterization and detection of noise in clustering
Pattern Recognition Letters
Characterizing and controlling approximation in hierarchical perceptual grouping
Fuzzy Sets and Systems - Special issue on fuzzy methods for computer vision and pattern recognition
The map-building and exploration strategies of a simple sonar-equipped mobile robot
The map-building and exploration strategies of a simple sonar-equipped mobile robot
A fuzzy approach to build sonar maps for mobile robots
Computers in Industry
A course in fuzzy systems and control
A course in fuzzy systems and control
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Pattern Recognition with Fuzzy Objective Function Algorithms
Pattern Recognition with Fuzzy Objective Function Algorithms
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
Incorporation of Feature Tracking into Simultaneous Localization and Map Building via Sonar Data
Journal of Intelligent and Robotic Systems
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This paper presents a segment-detection and grouping scheme that allows incremental and on-line learning of indoor environment maps by mobile robots. The proposed algorithm is based on authors' earlier work of modeling the environment by Enhanced Adaptive Fuzzy Clustering (EAFC) algorithm along with Noise Clustering (NC). In this study, the modeling is refined by first dividing the world into discrete regions as local models. Then, the line segments in local and global models are grouped together by a hierarchical fuzzy system. Adjusting the membership functions that establish the grouping criteria controls the degree of approximation in such combination. The presented map building method for modeling an indoor office environment has successfully been implemented in real-time and tested on Pioneer 2DX mobile robot equipped with sonar sensors. The experimental studies demonstrate improved performance through continuous maps that are obtained by adopting the fuzzy system during the grouping of line segments within local and global models.