Abstract
This paper introduces an approach to appearance based mobile robot localization using Lattice Independent Component Analysis (LICA). The Endmember Induction Heuristic Algorithm (EIHA) is used to select a set of Strong Lattice Independent (SLI) vectors, which can be assumed to be Affine Independent, and therefore candidates to be the endmembers of the data. Selected endmembers are used to compute the linear unmixing of the robot's acquired images. The resulting mixing coefficients are used as feature vectors for view recognition through classification. We show on a sample path experiment that our approach can recognise the localization of the robot and we compare the results with the Independent Component Analysis (ICA).
| Original language | English |
|---|---|
| Pages (from-to) | 335-342 |
| Number of pages | 8 |
| Journal | Lecture Notes in Computer Science |
| Volume | 6077 LNAI |
| Issue number | PART 2 |
| DOIs | |
| Publication status | Published - 2010 |
| Externally published | Yes |
| Event | 5th International Conference on Hybrid Artificial Intelligence Systems, HAIS 2010 - San Sebastian, Spain Duration: 23 Jun 2010 → 25 Jun 2010 |