Topological Maps for Visual Navigation
ICVS '99 Proceedings of the First International Conference on Computer Vision Systems
Video Google: A Text Retrieval Approach to Object Matching in Videos
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Invitation to 3-D Vision: From Images to Geometric Models
An Invitation to 3-D Vision: From Images to Geometric Models
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Vision-Based Multi-Robot Simultaneous Localization and Mapping
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
International Journal of Robotics Research
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Robotics and Autonomous Systems
Appearance-based mapping using minimalistic sensor models
Autonomous Robots
Fast and accurate map merging for multi-robot systems
Autonomous Robots
Object Mining Using a Matching Graph on Very Large Image Collections
ICVGIP '08 Proceedings of the 2008 Sixth Indian Conference on Computer Vision, Graphics & Image Processing
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Image-based mapping and navigation with heterogenous robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On-line visual vocabularies for robot navigation and mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Distributed consensus algorithms for merging feature-based maps with limited communication
Robotics and Autonomous Systems
Cooperative multi-robot map merging using Fast-SLAM
RoboCup 2009
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry
IEEE Transactions on Robotics
From Sensors to Human Spatial Concepts: An Annotated Data Set
IEEE Transactions on Robotics
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
Maximum algebraic connectivity augmentation is NP-hard
Operations Research Letters
Evaluation criteria for appearance based maps
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
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We consider the problem of merging together multiple appearance-based maps independently built by a team of robots jointly exploring an indoor environment. Due to the lack of accepted metrics to evaluate the quality of merged appearance-based maps, we propose to use algebraic connectivity for this purpose, and we discuss why this is an appropriate measure. Next, we introduce QuickConnect, an anytime algorithm aiming to maximize the given metric and we show how it can merge couple of maps, as well as multiple maps at the same time. The proposed algorithm has been implemented and tested on a fully functioning robotic system building appearance-based maps using a bag of words approach. QuickConnect outperforms alternative methods and features a convenient tradeoff between accuracy and speed.