A Quantitative Navigability Measure of Rough Maps

Jooseop Yun; Jun Miura

doi:10.20965/jrm.2009.p0095

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JRM Vol.21 No.1 pp. 95-103

doi: 10.20965/jrm.2009.p0095

(2009)

Paper:

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A Quantitative Navigability Measure of Rough Maps

Jooseop Yun and Jun Miura

Department of Information and Computer Sciences, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan

Received:

November 15, 2007

Accepted:

August 19, 2008

Published:

February 20, 2009

Keywords:

mobile robot, rough map, sketch-based navigation, navigability measure.

Abstract

This paper discusses a sketch interface that can be used to guide a mobile robot along a specified path in its unfamiliar place. With the sketch interface, the user draws a rough map to give navigation tasks to robots. Because sketched maps often suffer from various inaccuracies and large errors in landmarks, we discuss what kinds of uncertainties in the rough maps would mainly have effects on navigating a robot. The effects of such inaccuracies on robot navigation are analyzed in simulated environments. A quantitative navigability measure of rough maps is then developed based on the analysis. Experimental results are also presented for validating the navigability measure.

Cite this article as:

Jooseop Yun and Jun Miura, “A Quantitative Navigability Measure of Rough Maps,” J. Robot. Mechatron., Vol.21, No.1, pp. 95-103, 2009.

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References

[1] J. Yun and J. Miura, “Multi-Hypothesis Outdoor Localization using Multiple Visual Features with a Rough Map,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3526-3532, 2007.
[2] S. Fontaine, G. Edwards, B. Tversky, and M. Denis, “Expert and Non-expert Knowledge of Loosely Structured Environments,” in Proc. of Int. Conf. on Spatial Information Theory, pp. 363-378, 2005.
[3] B. Tversky and P. Lee, “How Space Structures Language,” in Spatial Cognition: An Interdisciplinary Approach to Representing and Processing Spatial Knowledge, Berlin: Springer, pp. 157-176, 1998.
[4] B. Tversky, “What do Sketches Say about Thinking?,” in Proc. of AAAI Spring Symposium, Sketch Understanding Workshop, AAAI Technical Report SS-02-08, pp. 148-151, 2002.
[5] A. Milner, “Vision without knowledge,” in Proc. of the Royal Society of London, series B, pp. 295-303, 1992.
[6] P. -E. Michon and M. Denis, “When and Why Are Visual Landmarks Used in Giving Directions ?,” in Proc. of Int. Conf. on Spatial Information Theory, pp. 292-305, 2001.
[7] K. Kawamura, A. B. Koku, D. M. Wilkes, R. A. Peters II, and A. Sekmen, “Toward Egocentric Navigation,” Int. J. of Robotics and Automation, Vol.17, No.4, pp. 135-145, 2002.
[8] E. R. Stuck, “Detecting and diagnosing mistakes in vision-based navigation,” Robotics and Autonomous Systems, Vol.17, No.4, pp. 259-285, 1996.
[9] M. Skubic, P. Matsakis, B. Forrester, and G. Chronis, “Extracting Navigation States from a Hand-Drawn Map,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 259-264, 2001.
[10] G. Chronis and M. Skubic, “Sketch-based navigation for mobile robots,” in Proc. of the IEEE Int. Conf. on Fuzzy Systems, pp. 284-289, 2003.
[11] J. Yun and J. Miura, “Multi-hypothesis localization with a rough map using multiple visual features for an outdoor navigation,” Advanced Robotics, Vol.21, No.11, pp. 1281-1304, 2007.

[1] [1] J. Yun and J. Miura, “Multi-Hypothesis Outdoor Localization using Multiple Visual Features with a Rough Map,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3526-3532, 2007.

[2] [2] S. Fontaine, G. Edwards, B. Tversky, and M. Denis, “Expert and Non-expert Knowledge of Loosely Structured Environments,” in Proc. of Int. Conf. on Spatial Information Theory, pp. 363-378, 2005.

[3] [3] B. Tversky and P. Lee, “How Space Structures Language,” in Spatial Cognition: An Interdisciplinary Approach to Representing and Processing Spatial Knowledge, Berlin: Springer, pp. 157-176, 1998.

[4] [4] B. Tversky, “What do Sketches Say about Thinking?,” in Proc. of AAAI Spring Symposium, Sketch Understanding Workshop, AAAI Technical Report SS-02-08, pp. 148-151, 2002.

[5] [5] A. Milner, “Vision without knowledge,” in Proc. of the Royal Society of London, series B, pp. 295-303, 1992.

[6] [6] P. -E. Michon and M. Denis, “When and Why Are Visual Landmarks Used in Giving Directions ?,” in Proc. of Int. Conf. on Spatial Information Theory, pp. 292-305, 2001.

[7] [7] K. Kawamura, A. B. Koku, D. M. Wilkes, R. A. Peters II, and A. Sekmen, “Toward Egocentric Navigation,” Int. J. of Robotics and Automation, Vol.17, No.4, pp. 135-145, 2002.

[8] [8] E. R. Stuck, “Detecting and diagnosing mistakes in vision-based navigation,” Robotics and Autonomous Systems, Vol.17, No.4, pp. 259-285, 1996.

[9] [9] M. Skubic, P. Matsakis, B. Forrester, and G. Chronis, “Extracting Navigation States from a Hand-Drawn Map,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 259-264, 2001.

[10] [10] G. Chronis and M. Skubic, “Sketch-based navigation for mobile robots,” in Proc. of the IEEE Int. Conf. on Fuzzy Systems, pp. 284-289, 2003.

[11] [11] J. Yun and J. Miura, “Multi-hypothesis localization with a rough map using multiple visual features for an outdoor navigation,” Advanced Robotics, Vol.21, No.11, pp. 1281-1304, 2007.