{"title":"通过子图同构实现全局定位","authors":"M. Piaggio, A. Sgorbissa, R. Zaccaria","doi":"10.1109/EURBOT.1999.827634","DOIUrl":null,"url":null,"abstract":"A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free space from occupancy grids, thus shifting the map-matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail, and simulated experimental results are provided.","PeriodicalId":364500,"journal":{"name":"1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Global localisation via sub-graph isomorphism\",\"authors\":\"M. Piaggio, A. Sgorbissa, R. Zaccaria\",\"doi\":\"10.1109/EURBOT.1999.827634\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free space from occupancy grids, thus shifting the map-matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail, and simulated experimental results are provided.\",\"PeriodicalId\":364500,\"journal\":{\"name\":\"1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355)\",\"volume\":\"4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-09-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/EURBOT.1999.827634\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EURBOT.1999.827634","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free space from occupancy grids, thus shifting the map-matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail, and simulated experimental results are provided.
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