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Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping

Detecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, images corresponding to the same scene region can be associated. State-of-theart proposals that address this topic use prebuilt vocabularies that generally require a priori knowledge of the environment. We propose a novel method for appearance-based navigation and mapping where the visual vocabularies are built online, thus eliminating the need for prebuilt data. We also show that the proposed technique allows efficient loop-closure detection, even at small vocabulary sizes, resulting in a higher computational efficiency

This work was supported in part by European Union Project FP7-ICT-2011-288704 and the Spanish Ministry of Science and Innovation under Grant CTM2010-15216

© IEEE Transactions on Robotics, 2012, vol. 28, núm. 4, p. 886-898

Institute of Electrical and Electronics Engineers (IEEE)

Autor: Nicosevici, Tudor
García Campos, Rafael
Data: 2012
Resum: Detecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, images corresponding to the same scene region can be associated. State-of-theart proposals that address this topic use prebuilt vocabularies that generally require a priori knowledge of the environment. We propose a novel method for appearance-based navigation and mapping where the visual vocabularies are built online, thus eliminating the need for prebuilt data. We also show that the proposed technique allows efficient loop-closure detection, even at small vocabulary sizes, resulting in a higher computational efficiency
This work was supported in part by European Union Project FP7-ICT-2011-288704 and the Spanish Ministry of Science and Innovation under Grant CTM2010-15216
Format: application/pdf
ISSN: 1552-3098 (versió paper)
1941-0468 (versió electrònica)
Accés al document: http://hdl.handle.net/10256/8647
Llenguatge: eng
Editor: Institute of Electrical and Electronics Engineers (IEEE)
Col·lecció: MICINN/PN 2011-2014/CTM2010-15216
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/TRO.2012.2192013
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288704
És part de: © IEEE Transactions on Robotics, 2012, vol. 28, núm. 4, p. 886-898
Drets: Tots els drets reservats
Matèria: Imatges -- Processament
Image processing
Visió per ordinador
Computer vision
Títol: Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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