Topological Mapping using Fuzzy Systems for Structural Recognition
| Autor: | Joao Guilherme Cavalcanti Costa, Ricardo A. L. Rabelo, Dyogo M. Reis, Wilson L. Rodrigues Junior, Andre M. Santana, Ranulfo Plutarco Bezerra Neto, Francisco B. de S. Rocha |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering 02 engineering and technology Plan (drawing) Fuzzy control system Topological graph Semantics computer.software_genre 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Task analysis Robot Topological map Data mining computer |
| Zdroj: | FUZZ-IEEE |
| DOI: | 10.1109/fuzz-ieee.2018.8491502 |
| Popis: | In this paper, we present a fuzzy system for structural recognition in which the environment information is used to generate a topological map. The proposed method combines the recognized information from a given scene with a topological graph to create a map. This map can be used to plan high-level tasks of robotic navigation. The topological nodes are used to store semantic information, such as the robot’s poses, sensor data and scene characteristics. The fuzzy system categorizes the structural information as either rooms, corridors or doors. |
| Databáze: | OpenAIRE |
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