2009 | OriginalPaper | Buchkapitel
Neuro-Evolutive System for Ego-Motion Estimation with a 3D Camera
verfasst von : Ivan Villaverde, Zelmar Echegoyen, Manuel Graña
Erschienen in: Advances in Neuro-Information Processing
Verlag: Springer Berlin Heidelberg
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A neuro-evolutive system for mobile robot ego-motion estimation using time-of-flight (TOF) 3D camera readings is presented in this paper. It is composed of two modules. First, a Neural Gas adaptative algorithm is used to obtain a set of codevectors quantizing the preprocessed 3D measurements provided by the camera. Second, codevector sets from consecutive frames are matched using an evolutive algorithm in order to estimate the motion of the robot between those two positions.