VISUAL TOPOLOGICAL MAP BUILDING IN SELF-SIMILAR ENVIRONMENTS

Toon Goedemé, Tinne Tuytelaars, Luc Van Gool

Abstract

This paper describes a method to automatically build topological maps for robot navigation out of a sequence of visual observations taken from a camera mounted on the robot. This direct non-metrical approach relies completely on the detection of loop closings, i.e. repeated visitations of one particular place. In natural environments, visual loop closing can be very hard, for two reasons. Firstly, the environment at one place can look differently at different time instances due to illumination changes and viewpoint differences. Secondly, there can be different places that look alike, i.e. the environment is self-similar. Here we propose a method that combines state-of-the-art visual comparison techniques and evidence collection based on Dempster-Shafer probability theory to tackle this problem.

References

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Paper Citation


in Harvard Style

Goedemé T., Tuytelaars T. and Van Gool L. (2006). VISUAL TOPOLOGICAL MAP BUILDING IN SELF-SIMILAR ENVIRONMENTS . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 3-9. DOI: 10.5220/0001209200030009


in Bibtex Style

@conference{icinco06,
author={Toon Goedemé and Tinne Tuytelaars and Luc Van Gool},
title={VISUAL TOPOLOGICAL MAP BUILDING IN SELF-SIMILAR ENVIRONMENTS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={3-9},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001209200030009},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VISUAL TOPOLOGICAL MAP BUILDING IN SELF-SIMILAR ENVIRONMENTS
SN - 978-972-8865-60-3
AU - Goedemé T.
AU - Tuytelaars T.
AU - Van Gool L.
PY - 2006
SP - 3
EP - 9
DO - 10.5220/0001209200030009