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Robust Place Recognition with an Application to Semantic Topological Mapping
Blekinge Institute of Technology, Faculty of Computing, Department of Communication Systems.
Blekinge Institute of Technology, Faculty of Computing, Department of Communication Systems.ORCID iD: 0000-0003-4327-117X
2013 (English)Conference paper (Refereed)
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.

Place, publisher, year, edition, pages
SPIE , 2013.
Keyword [en]
Spatial Memory, Topological Mapping, Robot Navigation
National Category
Signal Processing Computer Science
Identifiers
URN: urn:nbn:se:bth-6361DOI: 10.1117/12.2051490ISI: 000339220200048Local ID: oai:bth.se:forskinfo14F1EE547EBF7BC2C1257DAF004F2544OAI: oai:DiVA.org:bth-6361DiVA: diva2:833859
Conference
International Conference on Machine Vision (ICMV)
Available from: 2015-05-25 Created: 2014-12-15 Last updated: 2016-09-20Bibliographically approved

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Siddiqui, RafidKhatibi, Siamak
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