Tom Duckett and Ulrich Nehmzow
Performance Comparison of Landmark Recognition Systems for Navigating Mobile Robots
Proc. AAAI-2000, Seventeenth Nat. Conf. on Artificial Intelligence
Abstract
Self-localisation is an essential competence for mobile robot navigation.
Due to the fundamental unreliability of dead reckoning,
a robot must depend on its perception of external environmental features
or landmarks to localise itself.
A key question is how to evaluate landmark recognition systems for
mobile robots.
This paper answers this question by means of quantitative performance
measures.
An empirical study is presented in which a number of algorithms are
compared in four environments.
The results of this analysis are then applied to the development of
a novel landmark recognition system for a Nomad 200 robot.
Subsequent experiments demonstrate that
the new system obtains a similar level of
performance to the best alternative method, but at a
much lower computational cost.
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Bibtex
@INPROCEEDINGS{DuckettAAAI00,
AUTHOR = "Tom {Duckett} and Ulrich {Nehmzow}",
TITLE = "Performance Comparison of Landmark Recognition Systems for Navigating Mobile Robots",
BOOKTITLE = "Proceedings of the Seventeenth National Conference on Artificial Intelligence (AAAI'2000)",
ADDRESS = "Austin, Texas",
YEAR = 2000
}