Bayesian surprise and landmark detection

Authors:
Ananth Ranganathan;Frank Dellaert
Affiliations:
Honda Research Institute, Cambridge, MA;College of Computing, Georgia Inst. of Technology, Atlanta, GA
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

Automatic detection of landmarks, usually special places in the environment such as gateways, for topological mapping has proven to be a difficult task. We present the use of Bayesian surprise, introduced in computer vision, for landmark detection. Further, we provide a novel hierarchical, graphical model for the appearance of a place and use this model to perform surprise-based landmark detection. Our scheme is agnostic to the sensor type, and we demonstrate this by implementing a simple laser model for computing surprise. We evaluate our landmark detector using appearance and laser measurements in the context of a topological mapping algorithm, thus demonstrating the practical applicability of the detector.