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Morphological Neural Networks for Real-time Vision Based Self-Localization

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Soft Computing as Transdisciplinary Science and Technology

Part of the book series: Advances in Soft Computing ((AINSC,volume 29))

Abstract

In this paper we present some real time results of the implementation on a mobile robot of visual self-localization algorithms based on Morphological Heteroassociative Memories (MHM). We propose a dual set of min/max MHM storing the views that serve as landmarks for self localization. The binarized input images are subject to erosion in order to increase the robustness of the recall process. We present some empirical results on basic navigation experiments in an indoor environment. We use as the measure of performance of our approach the rate of false recognition, conditioned to some landmark being recognized.

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Author information

Authors and Affiliations

  1. CCIA Dept., University of the Basque Country Fac. Informática, 20018, San Sebastián, Spain

    I. Villaverde, S. Ibañez, F. X. Albizuri & M. Graña

Authors
  1. I. Villaverde
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  2. S. Ibañez
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  3. F. X. Albizuri
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  4. M. Graña
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Editor information

Editors and Affiliations

  1. Dept. of Computer Science, Oklahoma State University, North Greenwood Avenue 700, 74106, Tulsa, USA

    Ajith Abraham

  2. Dept. of Computer Science and Systems Engineering, Muroran Institute of Technology, Mizumoto-cho 27-1, 050-8585, Muroran, Hokkaido, Japan

    Yasuhiko Dote

  3. Dept. of Computational Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8601, Nagoya, Aichi-ken, Japan

    Takeshi Furuhashi

  4. Institut für Sicherheits-/Prüftechnik, Fraunhofer IPK Berlin, Pascalstr. 8-9, 10587, Berlin, Germany

    Mario Köppen

  5. Division of Complex Systems Technology Graduate School of Engineering, University of Hokkaido, N-13, W-8 060 KITA-KU, Sapporo, Japan

    Azuma Ohuchi

  6. PRESTO Japan Science & Technology Corp. GSSM, University of Tsukuba, 3-29-1 Otsuka, Bunkyo-ku, 12-0012, Tokyo, Japan

    Yukio Ohsawa

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© 2005 Springer-Verlag Berlin Heidelberg

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Villaverde, I., Ibañez, S., Albizuri, F.X., Graña, M. (2005). Morphological Neural Networks for Real-time Vision Based Self-Localization. In: Abraham, A., Dote, Y., Furuhashi, T., Köppen, M., Ohuchi, A., Ohsawa, Y. (eds) Soft Computing as Transdisciplinary Science and Technology. Advances in Soft Computing, vol 29. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-32391-0_15

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  • DOI: https://doi.org/10.1007/3-540-32391-0_15

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-25055-5

  • Online ISBN: 978-3-540-32391-4

  • eBook Packages: EngineeringEngineering (R0)

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