Learning view graphs for robot navigation

Matthias O. Franz; Bernhard Schoelkopf; Philipp Georg; Hanspeter A. Mallot; Heinrich H. Buelthoff

doi:10.1145/267658.267687

Learning view graphs for robot navigation

Matthias O. Franz, Bernhard Schoelkopf, Philipp Georg, Hanspeter A. Mallot, Heinrich H. Buelthoff

Department of Brain and Cognitive Engineering

Research output: Contribution to conference › Paper › peer-review

9 Citations (Scopus)

Abstract

We present a purely vision-based scheme for learning a parsimonious representation of an open environment. Using simple exploration behaviours, our system constructs a graph of appropriately chosen views. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. Simulations and robot experiments demonstrate the feasibility of the proposed approach.

Original language	English
Pages	138-147
Number of pages	10
DOIs	https://doi.org/10.1145/267658.267687
Publication status	Published - 1997
Event	Proceedings of the 1997 1st International Conference on Autonomous Agents - Marina del Rey, CA, USA Duration: 1997 Feb 5 → 1997 Feb 8

Other

Other	Proceedings of the 1997 1st International Conference on Autonomous Agents
City	Marina del Rey, CA, USA
Period	97/2/5 → 97/2/8

ASJC Scopus subject areas

Engineering(all)

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10.1145/267658.267687

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title = "Learning view graphs for robot navigation",

abstract = "We present a purely vision-based scheme for learning a parsimonious representation of an open environment. Using simple exploration behaviours, our system constructs a graph of appropriately chosen views. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. Simulations and robot experiments demonstrate the feasibility of the proposed approach.",

author = "Franz, {Matthias O.} and Bernhard Schoelkopf and Philipp Georg and Mallot, {Hanspeter A.} and Buelthoff, {Heinrich H.}",

year = "1997",

doi = "10.1145/267658.267687",

language = "English",

pages = "138--147",

note = "Proceedings of the 1997 1st International Conference on Autonomous Agents ; Conference date: 05-02-1997 Through 08-02-1997",

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TY - CONF

T1 - Learning view graphs for robot navigation

AU - Franz, Matthias O.

AU - Schoelkopf, Bernhard

AU - Georg, Philipp

AU - Mallot, Hanspeter A.

AU - Buelthoff, Heinrich H.

PY - 1997

Y1 - 1997

N2 - We present a purely vision-based scheme for learning a parsimonious representation of an open environment. Using simple exploration behaviours, our system constructs a graph of appropriately chosen views. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. Simulations and robot experiments demonstrate the feasibility of the proposed approach.

AB - We present a purely vision-based scheme for learning a parsimonious representation of an open environment. Using simple exploration behaviours, our system constructs a graph of appropriately chosen views. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. Simulations and robot experiments demonstrate the feasibility of the proposed approach.

UR - http://www.scopus.com/inward/record.url?scp=0030655609&partnerID=8YFLogxK

U2 - 10.1145/267658.267687

DO - 10.1145/267658.267687

M3 - Paper

AN - SCOPUS:0030655609

SP - 138

EP - 147

T2 - Proceedings of the 1997 1st International Conference on Autonomous Agents

Y2 - 5 February 1997 through 8 February 1997

ER -

Learning view graphs for robot navigation

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