Content Comparison

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• Overview

• Landmark Navigation

  • Class DiagramIndoorGML - Indoor Geographic Markup Language
    
  • Data Flow
  • Solvers

• Indoor Map Representation

• Path Planning

• Simulation and Results

• References

   

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Landmarks are distinct features that a mobile platform or robot can recognize from its sensory input. Landmarks can be geometric shapes (e.g., rectangles, lines, circles), and they may include additional information (e.g., in the form of bar-codes). In general, landmarks have a fixed and known position, relative to which a robot can localize itself. Landmarks are carefully chosen to be easy to identify; for example,  there must be sufficient contrast to the background. Before a robot can use landmarks for navigation, the characteristics of the landmarks must be known and stored in the robot's memory. The main task  in localization is then to recognize the landmarks reliably and to calculate the robot's position.

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Indoor Map Representation

A map model in the context of this report is a digital representation of an indoor environment. By creating a map model of an indoor environment, this will create a simplified manageable view of the environment. A model that will give us a better understanding of elements, description of elements, and predict how those elements will behave and interact with one another.

The application for this model will enable mobile platforms to achieve real-time indoor navigation. The complexity of an indoor environment ranges from each application, therefore to capture all the aspects of an indoor environment we need to structure the map model representation for a specific application.

Path Planning

Simulation and Results

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