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Topological localization with omnidirectional images using an Echo State Network

Broertjes, M. and Jong, S. de (2009) Topological localization with omnidirectional images using an Echo State Network. Bachelor's Thesis, Artificial Intelligence.

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We present a model for topological localization of robots equipped with hyperbolic mirrors for omnidirectional vision. Our goal is to achieve localization on a biologically plausible manner. The omnidirectional images are first pre-processed to data which can be used as input for an artificial neural network. The model uses an Echo State Network to perform a localization based on current input and past network activation. We test our model using a dataset of annotated omnidirectional images. We compare the results of our model with two baseline algorithms, namely a nearest neighbour algorithm and a Multi Layer Perceptron and with other research performed on the same dataset. We also show that a simple step in the pre-processing stage, which is inspired by SIFT and uses gradients, greatly improves the performance of the model.

Item Type: Thesis (Bachelor's Thesis)
Degree programme: Artificial Intelligence
Thesis type: Bachelor's Thesis
Language: English
Date Deposited: 15 Feb 2018 07:28
Last Modified: 15 Feb 2018 07:28

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