TY - GEN
T1 - Unsupervised neural network based topological learning from point clouds for map building
AU - Toda, Yuichiro
AU - Chin, Weihong
AU - Kubota, Naoyuki
N1 - Funding Information:
This work was funded by ImPACT Program of the Council for Science, Technology and Innovation.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2018/2/28
Y1 - 2018/2/28
N2 - Topological structure learning methods are expected for the field of data mining for extracting multiscale topological structures from an unknown dataset. In this paper, we introduce the unsupervised neural network method for topological structure learning method from point clouds for map building. We propose Batch Learning GNG (BL-GNG) in order to improve the learning convergence. BL-GNG uses an objective function based on Fuzzy C-means for improving the learning convergence. Finally, we conduct on several experiments for evaluating our proposed method by comparing to other hierarchical approaches, and discuss the effectiveness of our proposed method.
AB - Topological structure learning methods are expected for the field of data mining for extracting multiscale topological structures from an unknown dataset. In this paper, we introduce the unsupervised neural network method for topological structure learning method from point clouds for map building. We propose Batch Learning GNG (BL-GNG) in order to improve the learning convergence. BL-GNG uses an objective function based on Fuzzy C-means for improving the learning convergence. Finally, we conduct on several experiments for evaluating our proposed method by comparing to other hierarchical approaches, and discuss the effectiveness of our proposed method.
UR - http://www.scopus.com/inward/record.url?scp=85050494122&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050494122&partnerID=8YFLogxK
U2 - 10.1109/MHS.2017.8305188
DO - 10.1109/MHS.2017.8305188
M3 - Conference contribution
AN - SCOPUS:85050494122
T3 - MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science
SP - 1
EP - 6
BT - MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2017
Y2 - 3 December 2017 through 6 December 2017
ER -