A new computational model of how humans integrate successive “local environments” obtained as views at limiting points in the environment to create a perceptual map has been proposed and validated using a laser-ranging mobile robot. Compared with the SLAM (Simultaneous Localization and Mapping)-based approach, the proposed process is less computationally demanding and provides an interesting account of how humans compute their cognitive maps. Since vision plays an important role in how humans compute their maps, we extend the previous work by implementing the model using a vision-based mobile robot. Specifically, our model takes a prerecorded series of stereo-vision images of a large indoor environment at USM and produces a perceptual map. The results show that the model is not dependent on the use of a laser-ranging device and this is significant if the model is intended as a cognitive model of spatial cognition.
Computing a Perceptual Map Using a Stereo-Vision Mobile Robot
30.05.2018
Journal of Telecommunication, Electronic and Computer Engineering (JTEC); Vol 10, No 1-15: Exploring Man-Machines Compliance in Robotics and Image Processing; 53-58 ; 2289-8131 ; 2180-1843
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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