Inference of finite automata using homing sequences
STOC '89 Proceedings of the twenty-first annual ACM symposium on Theory of computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Learning dynamics: system identification for perceptually challenged agents
Artificial Intelligence - Special volume on computational research on interaction and agency, part 1
Map learning with uninterpreted sensors and effectors
Artificial Intelligence
Coping with Uncertainty in Map Learning
Machine Learning
Integrating topological and metroc maps for mobile robot navigation: a statistical approach
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
The spatial semantic hierarchy
Artificial Intelligence
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Performance Comparison of Landmark Recognition Systems for Navigating Mobile Robots
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
A logical account of causal and topological maps
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 2
Towards a general theory of topological maps
Artificial Intelligence
Evolving Soccer Keepaway Players Through Task Decomposition
Machine Learning
Bootstrap learning for accurate onset detection
Machine Learning
International Journal of Robotics Research
Online generation of scene descriptions in urban environments
Robotics and Autonomous Systems
Efficient exploration of unknown indoor environments using a team of mobile robots
Annals of Mathematics and Artificial Intelligence
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Identifying an object that is perceptually indistinguishable from one previously perceived
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Semantic place classification of indoor environments with mobile robots using boosting
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Topological mapping with weak sensory data
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Consistent, convergent, and constant-time SLAM
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Recognizing places using spectrally clustered local matches
Robotics and Autonomous Systems
A realistic benchmark for visual indoor place recognition
Robotics and Autonomous Systems
Bayesian surprise and landmark detection
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
3D mapping with multi-resolution occupied voxel lists
Autonomous Robots
Visual place categorization: problem, dataset, and algorithm
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multi-modal Semantic Place Classification
International Journal of Robotics Research
Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy
International Journal of Robotics Research
Image and Vision Computing
Research and applications on georeferenced multimedia: a survey
Multimedia Tools and Applications
Pure topological mapping in mobile robotics
IEEE Transactions on Robotics
Online probabilistic topological mapping
International Journal of Robotics Research
Review: learning like a baby: A survey of artificial intelligence approaches
The Knowledge Engineering Review
Using 2d and 3d landmarks to solve the correspondence problem in cognitive robot mapping
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
PLISS: labeling places using online changepoint detection
Autonomous Robots
Map-based navigation in mobile robots
Cognitive Systems Research
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We present a method whereby a robot can learn to recognize places with high accuracy, in spite of perceptual aliasing (different places appear the same) and image variability (the same place appears differently). The first step in learning place recognition restricts attention to distinctive states identified by the map-learning algorithm, and eliminates image variability by unsupervised learning of clusters of similar sensory images. The clusters define views associated with distinctive states, often increasing perceptual aliasing. The second step eliminates perceptual aliasing by building a causal/topological map and using history information gathered during exploration to disambiguate distinctive states. The third step uses the labeled images for supervised learning of direct associations from sensory images to distinctive states. We evaluate the method using a physical mobile robot in two environments, showing high recognition rates in spite of large amounts of perceptual aliasing.