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Incremental topological mapping using omnidirectional vision
Örebro University, Örebro, Sweden. (AASS)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
Department of Computing and Informatics, University of Lincoln, Brayford Pool, Lincoln, United Kingdom.
2006 (English)In: 2006 IEEE/RSJ international conference on intelligent robots and systems, New York, NY, USA: IEEE, 2006, p. 3441-3447, article id 4058933Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an algorithm that builds topological maps, using omnidirectional vision as the only sensor modality. Local features are extracted from images obtained in sequence, and are used both to cluster the images into nodes and to detect links between the nodes. The algorithm is incremental, reducing the computational requirements of the corresponding batch algorithm. Experimental results in a complex, indoor environment show that the algorithm produces topologically correct maps, closing loops without suffering from perceptual aliasing or false links. Robustness to lighting variations was further demonstrated by building correct maps from combined multiple datasets collected over a period of 2 months.

Place, publisher, year, edition, pages
New York, NY, USA: IEEE, 2006. p. 3441-3447, article id 4058933
National Category
Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3956DOI: 10.1109/IROS.2006.282583ISI: 000245452403096Scopus ID: 2-s2.0-34250669091ISBN: 978-1-4244-0258-8 (print)OAI: oai:DiVA.org:oru-3956DiVA, id: diva2:138255
Conference
2006 IEEE/RSJ international conference on intelligent robots and systems, IROS 2006, Beijing, China, 9-15 Oct., 2006
Available from: 2007-08-17 Created: 2007-08-17 Last updated: 2018-06-12Bibliographically approved

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Incremental Topological Mapping Using Omnidirectional Vision(1488 kB)43 downloads
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Publisher's full textScopushttp://www.aass.oru.se/Research/Learning/publications.html

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Lilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NO
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  • Other locale
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Output format
  • html
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  • asciidoc
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