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Mobile Robot Self-localization Based on Feature Extraction of Laser Scanner Using Self-organizing Feature Mapping

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Advances in Neural Networks – ISNN 2007 (ISNN 2007)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4491))

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Abstract

This paper investigates the use of SOM to process the signal of a 2D laser scanner encountered in feature extraction (corner) and mobile robot self-localization in indoor environments. It presents the method of combining SOM with occupancy grid matching to improve the self-localization performance at the lower computational cost. Experimental results demonstrate that this method can reliably extract the feature of corner point and can effectively improve the self-localization performance of mobile robot.

This work is supported by the National Natural Science Foundation of China (No. 60234030).

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References

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Author information

Authors and Affiliations

  1. College of Computer Science & Technology, Henan Polytechnic University, Jiaozuo 454003, Henan, China

    Jinxia Yu

  2. College of Information Science & Engineering, Central South University, Changsha 410083, Hunan, China

    Jinxia Yu, Zixing Cai & Zhuohua Duan

  3. Department of Computer Science, Shaoguan University, Shaoguan 512003, Guangdong, China

    Zhuohua Duan

Authors
  1. Jinxia Yu
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  2. Zixing Cai
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  3. Zhuohua Duan
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering (M/C 154), University of Illinois at Chicago, 851 S. Morgan Street, 60607-7053, Chicago, IL, USA

    Derong Liu

  2. School of Automation, Southeast University, 210096, Nanjing, China

    Shumin Fei

  3. Laboratory of Complex Systems, Institute of Automation, Chinese Adacemy of Sciences, 100080, Beijing, P. R. China

    Zeng-Guang Hou

  4. School of Information Science and Engineering, Northeast University, Shenyang, 110004, China

    Huaguang Zhang

  5. School of Electrical Engineering, Hohai University, Nanjing, 210098, China

    Changyin Sun

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© 2007 Springer-Verlag Berlin Heidelberg

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Cite this paper

Yu, J., Cai, Z., Duan, Z. (2007). Mobile Robot Self-localization Based on Feature Extraction of Laser Scanner Using Self-organizing Feature Mapping. In: Liu, D., Fei, S., Hou, ZG., Zhang, H., Sun, C. (eds) Advances in Neural Networks – ISNN 2007. ISNN 2007. Lecture Notes in Computer Science, vol 4491. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72383-7_87

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  • DOI: https://doi.org/10.1007/978-3-540-72383-7_87

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-72382-0

  • Online ISBN: 978-3-540-72383-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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