Open Access
An Adaptive Model for Vision-Based Localisation
J. Zhang,Volkmar Schwert,Alois Knoll +2 more
- 01 Jan 1998
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TL;DR: A neuro fuzzy model for localising a mobile robot based on raw vision data that integrates data compression such as the principal component analysis PCA as well as pattern matching in eigenspace is introduced.
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Abstract: We introduce a neuro fuzzy model for localising a mobile robot based on raw vision data Not only does the ap proach involve adaptive fuzzy control but it also integrates data compression such as the principal component analysis PCA as well as pattern matching in eigenspace A typical nonlinear real world system may be modelled as a control process with a large number of sensor inputs By observ ing the control process in a continuous time interval high dimensional sensor data and eventually some desired control information can be sampled With the help of PCA the orig inal dimension of input data can be reduced to a tractable size Subsequently the data can be clustered into a nite sequence of local scenarios Within each local scenario an adaptive fuzzy controller is trained to achieve the desired performance
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Citations
Learning based situation recognition by sectoring omnidirectional images for robot localisation
Jianwei Zhang,Kai Huebner,Alois Knoll +2 more
- 01 Jan 2001
TL;DR: Omnidirectional vision systems are developed by combining digital colour video cameras with conical and hyperbolic mirrors and applied in mobile robots in indoor environments and the computational effort is much lower than with conventional vision systems.
2
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TL;DR: ELVIS (Eigenvectors for Land Vehicle Image System) is a road-following system designed to drive the CMU Navlabs and an attempt to more fully understand ALVINN and to determine whether it is possible to design a system that can rival ALvINN using the same input and output, but without using a neural network.
Using colour information in an omnidirectional perception system for autonomous robot localization
R. Cassinis,D. Grana,A. Rizzi +2 more
- 09 Oct 1996
TL;DR: The localization is based on data provided by an omnidirectional visual perception system employing optical pre-processing and neural network learning and new results have been achieved using colour information.
17
Modular design of fuzzy controller integrating deliberative and reactive strategies
Jianwei Zhang,F. Wille,Alois Knoll +2 more
- 22 Apr 1996
TL;DR: The concept and realisation of the integration of deliberative and reactive strategies for controlling mobile robot systems are presented and a modular fuzzy control scheme is proposed, which allows independent development and flexible integration of different rule bases, each for fulfilling a certain subtask.
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An Optimality Principle for Unsupervised Learning
Terence D. Sanger
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TL;DR: An optimality principle is proposed for training an unsupervised feedforward neural network based upon maximal ability to reconstruct the input data from the network outputs and an algorithm which can be used to train either linear or nonlinear networks with certain types of nonlinearity.
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