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Robust Place Recognition with an Application to Semantic Topological Mapping
Blekinge Tekniska Högskola, Fakulteten för datavetenskaper, Institutionen för kommunikationssystem.
Blekinge Tekniska Högskola, Fakulteten för datavetenskaper, Institutionen för kommunikationssystem.ORCID-id: 0000-0003-4327-117X
2013 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The problem of robust and invariant representation of places is being addressed. A place recognition technique is proposed followed by an application to a semantic topological mapping. The proposed technique is evaluated on a robot localization database which consists of a large set of images taken under various weather conditions. The results show that the proposed method can robustly recognize the places and is invariant to geometric transformations, brightness changes and noise. The comparative analysis with the state-of-the-art semantic place description methods show that the method outperforms the competing methods and exhibits better average recognition rates.

sted, utgiver, år, opplag, sider
SPIE , 2013.
Emneord [en]
Spatial Memory, Topological Mapping, Robot Navigation
HSV kategori
Identifikatorer
URN: urn:nbn:se:bth-6361DOI: 10.1117/12.2051490ISI: 000339220200048Lokal ID: oai:bth.se:forskinfo14F1EE547EBF7BC2C1257DAF004F2544OAI: oai:DiVA.org:bth-6361DiVA, id: diva2:833859
Konferanse
International Conference on Machine Vision (ICMV)
Tilgjengelig fra: 2015-05-25 Laget: 2014-12-15 Sist oppdatert: 2018-01-11bibliografisk kontrollert

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