Topological mapping for mobile robots using a combination of sonar and vision sensing
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
The spatial semantic hierarchy
Artificial Intelligence
Multi-view Matching for Unordered Image Sets, or "How Do I Organize My Holiday Snaps?"
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Multiclass Spectral Clustering
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Context-based vision system for place and object recognition
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Unsupervised Learning of Categories from Sets of Partially Matching Image Features
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Semantic place classification of indoor environments with mobile robots using boosting
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Distributed Localization of Modular Robot Ensembles
International Journal of Robotics Research
Efficient data association for view based SLAM using connected dominating sets
Robotics and Autonomous Systems
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Appearance-Based SLAM for Mobile Robots
Proceedings of the 2009 conference on Artificial Intelligence Research and Development: Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence
Visual place categorization: problem, dataset, and algorithm
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Observation planning for efficient environment information summarization
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Image-based mapping and navigation with heterogenous robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Topological maps based on graphs of planar regions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Mapping and Localization for Mobile Robots through Environment Appearance Update
Proceedings of the 2010 conference on Artificial Intelligence Research and Development: Proceedings of the 13th International Conference of the Catalan Association for Artificial Intelligence
Semantic mapping with a probabilistic description logic
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
Boosting histograms of descriptor distances for scalable multiclass specific scene recognition
Image and Vision Computing
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
Robotics and Autonomous Systems
LESS-mapping: Online environment segmentation based on spectral mapping
Robotics and Autonomous Systems
PLISS: labeling places using online changepoint detection
Autonomous Robots
Evaluation criteria for appearance based maps
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Robust offline topological map estimation using visual loop closures
Proceedings of the 6th International Conference on PErvasive Technologies Related to Assistive Environments
Robust omnidirectional mobile robot topological navigation system using omnidirectional vision
Engineering Applications of Artificial Intelligence
Anytime merging of appearance-based maps
Autonomous Robots
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In this paper we start from a set of images obtained by the robot that is moving around in an environment. We present a method to automatically group the images into groups that correspond to convex subspaces in the environment which are related to the human concept of rooms. Pairwise similarities between the images are computed using local features extracted from the images and geometric constraints. The images with the proposed similarity measure can be seen as a graph or in a way as a base level dense topological map. From this low level representation the images are grouped using a graph-clustering technique which effectively finds convex spaces in the environment. The method is tested and evaluated on challenging data sets acquired in real home environments. The resulting higher level maps are compared with the maps humans made based on the same data.