Probabilistic self-localisation on a qualitative map based on occlusions

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dc.contributor.authorPaulo Santos
dc.contributor.authorMARTINS, M. F.
dc.contributor.authorFENELON, V.
dc.contributor.authorCOZMAM, F. G.
dc.contributor.authorDEE, H. M.
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-8484-0354
dc.date.accessioned2022-01-12T21:58:53Z
dc.date.available2022-01-12T21:58:53Z
dc.date.issued2016-09-02
dc.description.abstract© 2016 Informa UK Limited, trading as Taylor & Francis Group.Spatial knowledge plays an essential role in human reasoning, permitting tasks such as locating objects in the world (including oneself), reasoning about everyday actions and describing perceptual information. This is also the case in the field of mobile robotics, where one of the most basic (and essential) tasks is the autonomous determination of the pose of a robot with respect to a map, given its perception of the environment. This is the problem of robot self-localisation (or simply the localisation problem). This paper presents a probabilistic algorithm for robot self-localisation that is based on a topological map constructed from the observation of spatial occlusion. Distinct locations on the map are defined by means of a classical formalism for qualitative spatial reasoning, whose base definitions are closer to the human categorisation of space than traditional, numerical, localisation procedures. The approach herein proposed was systematically evaluated through experiments using a mobile robot equipped with a RGB-D sensor. The results obtained show that the localisation algorithm is successful in locating the robot in qualitatively distinct regions.
dc.description.firstpage781
dc.description.issuenumber5
dc.description.lastpage799
dc.description.volume28
dc.identifier.citationSANTOS, P. E.; MARTINS, M. F.; FENELON, V.; COZMAM, F. G.; DEE, H. M. Probabilistic self-localisation on a qualitative map based on occlusions. Journal of Experimental and Theoretical Artificial Intelligence, v. 28, n. 5, p. 781-799, Spt. 2016.
dc.identifier.doi10.1080/0952813X.2015.1132265
dc.identifier.issn1362-3079
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3892
dc.relation.ispartofJournal of Experimental and Theoretical Artificial Intelligence
dc.rightsAcesso Restrito
dc.subject.otherlanguageMarkov localisation
dc.subject.otherlanguageperception of occlusion
dc.subject.otherlanguageQualitative spatial reasoning
dc.titleProbabilistic self-localisation on a qualitative map based on occlusions
dc.typeArtigo
fei.scopus.citations6
fei.scopus.eid2-s2.0-84954108918
fei.scopus.subjectHuman reasoning
fei.scopus.subjectLocalisation
fei.scopus.subjectMobile robotic
fei.scopus.subjectPerceptual information
fei.scopus.subjectProbabilistic algorithm
fei.scopus.subjectQualitative spatial reasoning
fei.scopus.subjectSpatial knowledge
fei.scopus.subjectTopological map
fei.scopus.updated2024-07-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84954108918&origin=inward
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