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Incremental spectral clustering and its application to topological mapping
Örebro University, Department of Technology. (AASS)
University of Lincoln, United Kingdom. (Dept. of Computing & Informatics)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2007 (English)In: 2007 IEEE international conference on robotics and automation (ICRA), New York, NY, USA: IEEE, 2007, p. 4283-4288Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a novel use of spectral clustering algorithms to support cases where the entries in the affinity matrix are costly to compute. The method is incremental – the spectral clustering algorithm is applied to the affinity matrix after each row/column is added – which makes it possible to inspect the clusters as new data points are added. The method is well suited to the problem of appearance-based, on-line topological mapping for mobile robots. In this problem domain, we show that we can reduce environment-dependent parameters of the clustering algorithm to just a single, intuitive parameter. Experimental results in large outdoor and indoor environments show that we can close loops correctly by computing only a fraction of the entries in the affinity matrix. The accompanying video clip shows how an example map is produced by the algorithm.

Place, publisher, year, edition, pages
New York, NY, USA: IEEE, 2007. p. 4283-4288
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4772DOI: 10.1109/ROBOT.2007.364138ISI: 000250915304046Scopus ID: 2-s2.0-34250669091ISBN: 978-1-4244-0601-2 (print)OAI: oai:DiVA.org:oru-4772DiVA, id: diva2:139071
Conference
2007 IEEE international conference on robotics and automation (ICRA)
Note

Funding Agency:

The Swedish Defence Material Administration

Available from: 2008-11-26 Created: 2008-11-26 Last updated: 2018-06-12Bibliographically approved

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Incremental Spectral Clustering and Its Application To Topological Mapping(374 kB)23 downloads
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Lilienthal, Achim J.

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Citation style
  • apa
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Language
  • de-DE
  • en-GB
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  • nn-NB
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  • Other locale
More languages
Output format
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