A hybrid intelligent system for robot ego motion estimation with a 3D camera

Ivan Villaverde; Manuel Graña

doi:10.1007/978-3-540-87656-4_81

A hybrid intelligent system for robot ego motion estimation with a 3D camera

Ivan Villaverde^*
, Manuel Graña

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

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.

Original language	English
Title of host publication	Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings
Pages	657-664
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-540-87656-4_81
Publication status	Published - 2008
Externally published	Yes
Event	3rd International Workshop on Hybrid Artificial Intelligence Systems, HAIS 2008 - Burgos, Spain Duration: 24 Sept 2008 → 26 Sept 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5271 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Workshop on Hybrid Artificial Intelligence Systems, HAIS 2008
Country/Territory	Spain
City	Burgos
Period	24/09/08 → 26/09/08

Keywords

Evolutive computation
Robot navigation
Self organizing maps

Access to Document

10.1007/978-3-540-87656-4_81

Cite this

Villaverde, I., & Graña, M. (2008). A hybrid intelligent system for robot ego motion estimation with a 3D camera. In Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings (pp. 657-664). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5271 LNAI). https://doi.org/10.1007/978-3-540-87656-4_81

@inproceedings{a784064569d5463c83c39a53033e633d,

title = "A hybrid intelligent system for robot ego motion estimation with a 3D camera",

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.",

keywords = "Evolutive computation, Robot navigation, Self organizing maps",

author = "Ivan Villaverde and Manuel Gra{\~n}a",

year = "2008",

doi = "10.1007/978-3-540-87656-4\_81",

language = "English",

isbn = "3540876553",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

pages = "657--664",

booktitle = "Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings",

note = "3rd International Workshop on Hybrid Artificial Intelligence Systems, HAIS 2008 ; Conference date: 24-09-2008 Through 26-09-2008",

}

Villaverde, I & Graña, M 2008, A hybrid intelligent system for robot ego motion estimation with a 3D camera. in Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5271 LNAI, pp. 657-664, 3rd International Workshop on Hybrid Artificial Intelligence Systems, HAIS 2008, Burgos, Spain, 24/09/08. https://doi.org/10.1007/978-3-540-87656-4_81

A hybrid intelligent system for robot ego motion estimation with a 3D camera. / Villaverde, Ivan; Graña, Manuel.
Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings. 2008. p. 657-664 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5271 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A hybrid intelligent system for robot ego motion estimation with a 3D camera

AU - Villaverde, Ivan

AU - Graña, Manuel

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

KW - Evolutive computation

KW - Robot navigation

KW - Self organizing maps

UR - https://www.scopus.com/pages/publications/70349118752

U2 - 10.1007/978-3-540-87656-4_81

DO - 10.1007/978-3-540-87656-4_81

M3 - Conference contribution

AN - SCOPUS:70349118752

SN - 3540876553

SN - 9783540876557

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 657

EP - 664

BT - Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings

T2 - 3rd International Workshop on Hybrid Artificial Intelligence Systems, HAIS 2008

Y2 - 24 September 2008 through 26 September 2008

ER -

Villaverde I, Graña M. A hybrid intelligent system for robot ego motion estimation with a 3D camera. In Hybrid Artificial Intelligence Systems - Third International Workshop, HAIS 2008, Proceedings. 2008. p. 657-664. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-87656-4_81

A hybrid intelligent system for robot ego motion estimation with a 3D camera

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this