An Improvement of Topological Mapping Using a Graph-Matching Based Method with Omnidirectional Images

Authors:
Anna Romero;Miguel Cazorla
Affiliations:
Instituto de Investigación en Informática, University of Alicante;Instituto de Investigación en Informática, University of Alicante
Venue:
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
Year:
2010

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Abstract

Image feature extraction and matching is useful in many areas of robotics such as object and scene recognition, autonomous navigation, SLAM and so on. This paper describes an approach to the problem of matching features and its application to scene recognition and topological SLAM. For that purpose we propose prior image segmentation into regions in order to group the extracted features in a graph so that each graph defines a single region of the image. The matching process will take into account the features and the structure (graph) using the GTM algorithm. Then, using this method of comparing images, we propose an algorithm for constructing topological maps. During the experimentation phase we will test the robustness of the method and its ability to construct topological maps. We have also introduced a new hysteresis behaviour in order to solve some problems found in construction of the graph.