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Lattice Independence and Vision Based Mobile Robot Navigation

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Knowledge-Based Intelligent Information and Engineering Systems (KES 2007)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4693))

Abstract

Strong Lattice Independence implies Affine Independence. Affine Independent sets of vectors define a convex polytope and if this polytope is a good approximation to the convex hull of a set data points, we can use them to represent the data points through their convex coordinates. This representation can be used as a feature extraction or dimensionality reduction method. Morphological Associative Memories (MAM) have been proposed for image denoising and pattern recognition. Recent works show that, by construction, Autoassociative Morphological Memories (AMM) are composed of lattice independent vectors. After a transformation these vectors can be shown to be a good approximation to the data convex hull, and therefore as a candidate set of points for convex coordinate representation of the data. In this paper we present some results on the task of visual landmark recognition for a mobile robot self-localization task improving previous results using AMM.

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Authors and Affiliations

  1. Dept. CCIA, UPV/EHU, Apdo. 649, 20080 San Sebastian, Spain

    I. Villaverde, M. Graña & J. L. Jimenez

Authors
  1. I. Villaverde
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  2. M. Graña
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  3. J. L. Jimenez
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Editor information

Editors and Affiliations

  1. Dipartimento di Scienze dell’Informazione, Università degli Studi di Milano, Via Comelico 39/41, 20135, Milano, Italy

    Bruno Apolloni

  2. Centre for SMART Systems, School of Engineering, University of Brighton, BN2 4GJ, Brighton, UK

    Robert J. Howlett

  3. Knowledge-Based Intelligent Engineering Systems Centre, University of South Australia, Mawson Lakes, SA 5095, Adelaide, Australia

    Lakhmi Jain

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© 2007 Springer-Verlag Berlin Heidelberg

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Villaverde, I., Graña, M., Jimenez, J.L. (2007). Lattice Independence and Vision Based Mobile Robot Navigation. In: Apolloni, B., Howlett, R.J., Jain, L. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2007. Lecture Notes in Computer Science(), vol 4693. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74827-4_149

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  • DOI: https://doi.org/10.1007/978-3-540-74827-4_149

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-74826-7

  • Online ISBN: 978-3-540-74827-4

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