A stochastic map for uncertain spatial relationships
Proceedings of the 4th international symposium on Robotics Research
Normalized Cuts and Image Segmentation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Acquisition and Propagation of Spatial Constraints Based on Qualitative Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
Communications of the ACM - Robots: intelligence, versatility, adaptivity
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Exactly Sparse Extended Information Filters for Feature-based SLAM
International Journal of Robotics Research
Integrating grid-based and topological maps for mobile robot navigation
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Toward a Unified Bayesian Approach to Hybrid Metric--Topological SLAM
IEEE Transactions on Robotics
Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
On achievable accuracy for pose tracking
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Integrated PSO and line based representation approach for SLAM
Proceedings of the 2011 ACM Symposium on Applied Computing
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
LESS-mapping: Online environment segmentation based on spectral mapping
Robotics and Autonomous Systems
Holography map for home robot: an object-oriented approach
Intelligent Service Robotics
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Hybrid maps where local metric submaps are kept in the nodes of a graph-based topological structure are gaining relevance as the focus of robot Simultaneous Localization and Mapping (SLAM) shifts towards spatial scalability and long-term operation. In this paper we examine the applicability of spectral graph partitioning techniques to the automatic generation of metric submaps by establishing groups in the sequence of observations gathered by the robot. One of the main aims of this work is to provide a probabilistically grounded interpretation of such a partitioning technique in the context of generating local maps. We also discuss how to apply it to different kinds of sensory data (landmarks extracted from stereo images and laser range scans) and how to consider them simultaneously. An important feature of our approach is that the partitioning takes into account the intrinsic characteristics of the sensors, such as the sensor field of view, instead of applying heuristics supplied by a human as in other works. Thus the robot builds ''subjective'' local maps whose size will be determined by the nature of the sensors. The ideas presented here are supported by experimental results from a real mobile robot as well as simulations for statistical analysis. We discuss the effects of considering different combinations of sensors in the resulting clustering of the environment.