Performance comparison of landmark recognition systems for navigating mobile robots

Duckett, Tom and Nehmzow, Ulrich (2000) Performance comparison of landmark recognition systems for navigating mobile robots. In: Seventeenth National Conference on Artificial Intelligence (AAAI 2000), 30 July - 3 August 2000, Austin, Texas, USA.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


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.

Keywords:mobile robot localization, place recognition, navigation, robot benchmarks
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
ID Code:28033
Deposited On:28 Jul 2017 09:59

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