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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), 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
2007. p. 4283-4288
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.2007.364138ISBN: 1-4244-0601-3 (print)OAI: oai:DiVA.org:oru-4772DiVA, id: diva2:139071
Conference
2007 IEEE international conference on robotics and automation (ICRA)
Available from: 2008-11-26 Created: 2008-11-26 Last updated: 2018-01-13Bibliographically approved

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Publisher's full texthttp://www.aass.oru.se/Research/Learning/publications/2007/Valgren_etal_2007-ICRA07-Incremental_Spectral_Clustering.pdf

Authority records BETA

Lilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
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