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Paper Abstract and Keywords
Presentation 2008-01-16 11:20
Acquirement of the Environment Internal Model by SOM2 for Mobile Robots
Takanori Masuoka, Kazuhiro Tokunaga, Tetsuo Furukawa (KIT) NC2007-102
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, a method for internal model acquirement of the outer environment is proposed.
The proposed method is based on the SOM$^2$, in which each vector unit of the traditional SOM is replaced by an SOM itself.
The SOM$^2$ is capable of generating a self-organizing map of a set of data distributions rather than a map of data vectors.
This property of SOM$^2$ is suited to the self-localization of mobile robots, because a set of visual images observed at the same point vary depending on the orientation of the robot.
We gave a ring-shape topology to each SOM module, which is expected to represent a visual data distribution observed at each location, while the upper level of SOM$^2$ is expected to represent the continuous change of those data distributions.
As the results, this method succeeded to acquire an internal model of the outer world from sets of visual data.
In addition, it also succeeded to make a simultaneous estimation of the location and the orientation of the mobile robot.
Keyword (in Japanese) (See Japanese page) 
(in English) SOM2 / environment internal model / self-localization / orientation estimation / manifold / mobile robot / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 413, NC2007-102, pp. 91-96, Jan. 2008.
Paper # NC2007-102 
Date of Issue 2008-01-08 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2007-102

Conference Information
Committee NC  
Conference Date 2008-01-15 - 2008-01-16 
Place (in Japanese) (See Japanese page) 
Place (in English) Centennial Hall, Hokkaido Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Machine Learning, etc. 
Paper Information
Registration To NC 
Conference Code 2008-01-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Acquirement of the Environment Internal Model by SOM2 for Mobile Robots 
Sub Title (in English)  
Keyword(1) SOM2  
Keyword(2) environment internal model  
Keyword(3) self-localization  
Keyword(4) orientation estimation  
Keyword(5) manifold  
Keyword(6) mobile robot  
Keyword(7)  
Keyword(8)  
1st Author's Name Takanori Masuoka  
1st Author's Affiliation Kyushu Institute of Technology (KIT)
2nd Author's Name Kazuhiro Tokunaga  
2nd Author's Affiliation Kyushu Institute of Technology (KIT)
3rd Author's Name Tetsuo Furukawa  
3rd Author's Affiliation Kyushu Institute of Technology (KIT)
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Speaker Author-1 
Date Time 2008-01-16 11:20:00 
Presentation Time 20 minutes 
Registration for NC 
Paper # NC2007-102 
Volume (vol) vol.107 
Number (no) no.413 
Page pp.91-96 
#Pages 6 
Date of Issue 2008-01-08 (NC) 

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