TY - GEN
T1 - Neuro-evolutive system for ego-motion estimation with a 3D Camera
AU - Villaverde, Ivan
AU - Echegoyen, Zelmar
AU - Graña, Manuel
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/70349084144
U2 - 10.1007/978-3-642-02490-0_124
DO - 10.1007/978-3-642-02490-0_124
M3 - Conference contribution
AN - SCOPUS:70349084144
SN - 3642024890
SN - 9783642024894
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1021
EP - 1028
BT - Advances in Neuro-Information Processing - 15th International Conference, ICONIP 2008, Revised Selected Papers
T2 - 15th International Conference on Neuro-Information Processing, ICONIP 2008
Y2 - 25 November 2008 through 28 November 2008
ER -