Shape Nouns and Shape Concepts: A Geometry for ‘Corner’

Eschenbach, Carola; Habel, Christopher; Kulik, Lars; Leßmöllmann, Annette

doi:10.1007/3-540-69342-4_9

Cited by 6 publications

(1 citation statement)

References 30 publications

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“…In contrast to the concept "corner c " proposed by Eschenbach et al [6], the length of the incoming segment of a corner is not considered here. In (1), ρ i is the rotation angle between the incoming and the outgoing segment of a corner in a "local frame of reference", i. e., ρ i describes the relative change in orientation when passing corner c i .…”

Section: Situation Modelmentioning

confidence: 99%

Self-localization in Large-Scale Environments for the Bremen Autonomous Wheelchair

Lankenau

Röfer

Krieg-Brückner

Spatial Cognition III

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Abstract. This paper presents RouteLoc, a new approach for the absolute self-localization of mobile robots in structured large-scale environments. As experimental platform, the Bremen Autonmous Wheelchair "Rolland" is used on a 2,176m long journey across the campus of the Universität Bremen. RouteLoc poses only very low requirements with regard to sensor input, resources (memory, computing time), and a-priori knowledge. The approach is based on a hybrid topological-metric representation of the environment. It scales up very well, and is thus suitable for self-localization of service robots in large-scale environments. The evaluation of RouteLoc is done with a pure metric approach as reference method. It compares scan-matching results of laser range finder data with the position estimates of RouteLoc on a metric basis.

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Section: Situation Modelmentioning

confidence: 99%