Search results for "Topological map"
showing 4 items of 4 documents
Attention-Based Landmark Selection in Autonomous Robotics
2007
This paper describes a robotic architecture that uses visual attention mechanisms for autonomous navigation in unknown indoor environments. A foveation mechanism based on a bottom-up attention system allows the robot to autonomously select landmarks, defined as salient points in the camera images. Landmarks are memorized in a behavioral fashion by coupling sensing and acting to achieve a representation that is view and scale independent. Selected landmarks are stored in a topological map. During the navigation a top-down mechanism controls the attention system to achieve robot localization. Experiments and results show that our system is robust to noise and odometric errors, being at the sa…
Attention-based environment perception in autonomous robotics
2007
This paper describes a robotic architecture that uses visual attention mechanisms for autonomous navigation in unknown indoor environments. A foveation mechanism based on classical bottom-up gaze shifts allows the robot to autonomously select landmarks, defined as salient points in the camera images. Landmarks are memorized in a behavioral fashion, coupling sensing and acting to achieve a representation view and scale independent. Selected landmarks are stored in a topological map; during the navigation a top-down mechanism controls the attention system to achieve robot localization. Experiments and results show that our system is robust to noise and odometric errors, being at the same time…
Neural Classification of Compost Maturity by Means of the Self-Organising Feature Map Artificial Neural Network and Learning Vector Quantization Algo…
2019
Self-Organising Feature Map (SOFM) neural models and the Learning Vector Quantization (LVQ) algorithm were used to produce a classifier identifying the quality classes of compost, according to the degree of its maturation within a period of time recorded in digital images. Digital images of compost at different stages of maturation were taken in a laboratory. They were used to generate an SOFM neural topological map with centres of concentration of the classified cases. The radial neurons on the map were adequately labelled to represent five suggested quality classes describing the degree of maturation of the composted organic matter. This enabled the creation of a neural separator classify…
A Communication-Aware Topological Mapping Technique for NoCs
2008
Networks---on---Chip (NoCs) have been proposed as a promising solution to the complex on-chip communication problems derived from the increasing number of processor cores. The design of NoCs involves several key issues, being the topological mapping (the mapping of the Intellectual Properties (IPs) to network nodes) one of them. Several proposals have been focused on topological mapping last years, but they require the experimental validation of each mapping considered. In this paper, we propose a communication-aware topological mapping technique for NoCs. This technique is based on the experimental correlation of the network model with the actual network performance, thus avoiding the need…