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International Workshop on Hybrid Artificial Intelligence Systems

HAIS 2008: Hybrid Artificial Intelligence Systems pp 657–664Cite as

A Hybrid Intelligent System for Robot Ego Motion Estimation with a 3D Camera

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5271))

Abstract

A Hybrid Intelligent System (HIS) for self-localization working on the readings of innovative 3D cameras is presented in this paper. The system includes a preprocessing step for cleaning the 3D camera readings. The HIS consist of two main modules. First the Self-Organizing Map (SOM) is used to provide models of the preprocessed 3D readings of the camera. The 2D grid of the SOM units is assumed as a surface modeling the 3D data obtained from each snapshot of the 3D camera. The second module is an Evolution Strategy, which is used to perform the estimation of the motion of the robot between frames. The fitness function of the Evolution Strategy (ES) is given by the distance computed as the matching of the SOM unit grids.

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References

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Author information

Authors and Affiliations

  1. Computational Inteligence Group, University of the Basque Country,  

    Ivan Villaverde & Manuel Graña

Authors
  1. Ivan Villaverde
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  2. Manuel Graña
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Editor information

Editors and Affiliations

  1. Escuela Politécnica Superior, GICAP Research Group, Universidad de Burgo, Calle Francisco de Vitoria S/N, Edifico C, Campus Vena, 09006, Burgos, Spain

    Emilio Corchado

  2. Center of Excellence for Quantifiable Quality of Service, Norwegian University of Science and Technology, 7491, Trondheim, Norway

    Ajith Abraham

  3. Department of Electrical and Computer Engineering, University of Alberta, Edmonton,, T6G 2V4, Alberta, Canada

    Witold Pedrycz

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© 2008 Springer-Verlag Berlin Heidelberg

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Villaverde, I., Graña, M. (2008). A Hybrid Intelligent System for Robot Ego Motion Estimation with a 3D Camera. In: Corchado, E., Abraham, A., Pedrycz, W. (eds) Hybrid Artificial Intelligence Systems. HAIS 2008. Lecture Notes in Computer Science(), vol 5271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-87656-4_81

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  • DOI: https://doi.org/10.1007/978-3-540-87656-4_81

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-87655-7

  • Online ISBN: 978-3-540-87656-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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