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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 |
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| 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. |
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| 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 |
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| 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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