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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

info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH

Institute of Electrical and Electronics Engineers (IEEE)

Manager: Ministerio de Ciencia e Innovación (Espanya)
Author: Nicosevici, Tudor
García Campos, Rafael
Abstract: 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
Document access: http://hdl.handle.net/10256/8647
Language: eng
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Collection: info:eu-repo/semantics/altIdentifier/doi/10.1109/TRO.2012.2192013
info:eu-repo/semantics/altIdentifier/issn/1552-3098
info:eu-repo/semantics/altIdentifier/eissn/1941-0468
info:eu-repo/grantAgreement/MICINN//CTM2010-15216/ES/SISTEMA DE CONSTRUCCION DE MAPAS MULTIMODALES PARA LA CARACTERIZACION DEL FONDO MARINO MEDIANTE LA UTILIZACION DE UN ROBOT AUTONOMO/
Is part of: info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
Rights: Tots els drets reservats
Subject: Imatges -- Processament
Image processing
Visió per ordinador
Computer vision
Title: Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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