Object-based Place Recognition for Mobile Robots Using Panoramas

Authors:
Arturo Ribes;Arnau Ramisa;Ramon Lopez de Mantaras;Ricardo Toledo
Affiliations:
Artificial Intelligence Research Institute (IIIA-CSIC), Campus UAB, 08193 Bellaterra, Spain;Artificial Intelligence Research Institute (IIIA-CSIC), Campus UAB, 08193 Bellaterra, Spain;Artificial Intelligence Research Institute (IIIA-CSIC), Campus UAB, 08193 Bellaterra, Spain;Computer Vision Center (CVC), Campus UAB, 08193 Bellaterra, Spain
Venue:
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Year:
2008

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Abstract

Object recognition has been widely researched for several decades and in the recent years new methods capable of general object classification have appeared. However very few work has been done to adapt these methods to the challenges raised by mobile robotics. In this article we discuss the data sources (appearence information, temporal context, etc.) that such methods could use and we review several state of the art object recognition methods that build in one or more of these sources. Finally we run an object based robot localization experiment using an state of the art object recognition method and we show that good results are obtained even with a naïve place descriptor.