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Lattice Independent Component Analysis for Mobile Robot Localization

  • Ivan Villaverde
  • Borja Fernandez-Gauna
  • Ekaitz Zulueta
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6077)

Abstract

This paper introduces an approach to appearance based mobile robot localization using Lattice Independent Component Analysis (LICA). The Endmember Induction Heuristic Algorithm (EIHA) is used to select a set of Strong Lattice Independent (SLI) vectors, which can be assumed to be Affine Independent, and therefore candidates to be the endmembers of the data. Selected endmembers are used to compute the linear unmixing of the robot’s acquired images. The resulting mixing coefficients are used as feature vectors for view recognition through classification. We show on a sample path experiment that our approach can recognise the localization of the robot and we compare the results with the Independent Component Analysis (ICA).

Keywords

Feature Vector Independent Component Analysis Independent Component Analysis Robot Localization Landmark Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Ivan Villaverde
    • 1
  • Borja Fernandez-Gauna
    • 1
  • Ekaitz Zulueta
    • 1
  1. 1.Computational Intelligence Group, Dept. CCIAUPV/EHUSan SebastianSpain

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