Extraction of salient features for mobile robot navigation via teleoperation | IEEE Conference Publication | IEEE Xplore

Extraction of salient features for mobile robot navigation via teleoperation


Abstract:

This paper presents a method to extract salient features from sensory-motor sequences for mobile robot navigation via teleoperation. Salient feature extraction consists o...Show More

Abstract:

This paper presents a method to extract salient features from sensory-motor sequences for mobile robot navigation via teleoperation. Salient feature extraction consists of three steps: teleoperation, offline association, and evaluation. First, the mobile robot is teleoperated in an environment along a path several times. All sensory data and motor drive commands are recorded. During an offline association step, these sensory-motor sequences are partitioned into episodes according to changes in motor commands. Salient features are then extracted by using two statistical criteria: consistency and correlation with the motor commands within the episode boundaries. Finally, these features are used to drive the robot in the learned environment. Some experiment results are also presented.
Date of Conference: 08-10 June 2005
Date Added to IEEE Xplore: 01 August 2005
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Conference Location: Portland, OR, USA

References

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