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Incremental spectral clustering and seasons: appearance-based localization in outdoor environments
Örebro University, Örebro, Sweden. (AASS)
Örebro University, Department of Technology. (Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
2008 (English)In: 2008 IEEE international conference on robotics and automation, New York, NY, USA: IEEE, 2008, p. 1856-1861, article id 4543477Conference paper, Published paper (Refereed)
Abstract [en]

The problem of appearance-based mapping and navigation in outdoor environments is far from trivial. In this paper, an appearance-based topological map, covering a large, mixed indoor and outdoor environment, is built incrementally by using panoramic images. The map is based on image similarity, so that the resulting segmentation of the world corresponds closely to the human concept of a place. Using high-resolution images and the epipolar constraint, the resulting map is shown to be very suitable for localization, even when the environment has undergone seasonal changes.

Place, publisher, year, edition, pages
New York, NY, USA: IEEE, 2008. p. 1856-1861, article id 4543477
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords [en]
Apperance based localisation, topological mapping, spectral clustering
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3258DOI: 10.1109/ROBOT.2008.4543477ISI: 000258095001089Scopus ID: 2-s2.0-51649104410ISBN: 978-1-4244-1646-2 (print)OAI: oai:DiVA.org:oru-3258DiVA, id: diva2:137555
Conference
IEEE international conference on robotics and automation, ICRA 2008, Pasadena, CA, USA, 19-23 May
Available from: 2008-11-28 Created: 2008-11-28 Last updated: 2018-06-12Bibliographically approved

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Incremental Spectral Clustering and Seasons: Appearance-Based Localization in Outdoor Environments(1422 kB)15 downloads
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Lilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf