Visual Topological Map Building in Self-similar Environments
This chapter describes a method to automatically build topological maps for robot navigation out of a sequence of visual observations taken from a camera mounted on the robot. This direct non-metrical approach relies completely on the detection of loop cl
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Juan Andrade Cetto · Jean-Louis Ferrier · Jos´e Miguel Costa dias Pereira · Joaquim Filipe (Eds.)
Informatics in Control Automation and Robotics Selected Papers from the International Conference on Informatics in Control Automation and Robotics 2006
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Juan Andrade Cetto Ramon y Cajal Postdoctoral Fellow Institut de Robotica i Informatica Industrial, CSIC-UPC Llorens Artigas, 4-6 08028 Barcelona Spain
Professeur Jean-Louis Ferrier LISA - ISTIA 62, avenue Notre Dame du Lac 49000 Angers France
Jos´e Miguel Costa Dias Pereira Instituto Polit´ecnico de Set´ubal Largo Defensores da Rep´ublica, 1 2910-470 Set´ubal Portugal
Joaquim Filipe INSTICC Av. D. Manuel I 27A 2o Esq. 2910-595 Set´ubal Portugal
ISBN: 978-3-540-79141-6
e-ISBN: 978-3-540-79142-3
Library of Congress Control Number: 2008926385 c 2008 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover design: eStudio Calamar S.L. Printed on acid-free paper 9 8 7 6 5 4 3 2 1 springer.com
Preface The present book includes a set of selected papers from the third “International Conference on Informatics in Control Automation and Robotics” (ICINCO 2006), held in Setúbal, Portugal, from 1 to 5 August 2006, sponsored by the Institute for Systems and Technologies of Information, Control and Communication (INSTICC). The conference was organized in three simultaneous tracks: “Intelligent Control Systems and Optimization”, “Robotics and Automation” and “Systems Modeling, Signal Processing and Control”. The book is based on the same structure. Although ICINCO 2006 received 309 paper submissions, from more than 50 different countries in all continents, only 31 where accepted as full papers. From those, only 23 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers also reflect the interdisciplinary nature of the conference. The diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends. These high quality standards will be maintained and reinforced at ICINCO 2007, to be held in Angers, France, and in future editions of this conference. Furthermore, ICINCO 2006 included 7 plenary key
