Summary
This paper is about labelling regions of a mobile robot’s workspace using scene appearance similarity. We do this by operating on a single matrix which expresses the pairwise similarity between all captured scenes. We describe and motivate a sequence of algorithms which, in conjunction with spatial constraints provided by the continuous motion of the vehicle, produce meaningful workspace segmentations. We provide detailed experimental results from various outdoor trials.
This work was support by the SEAS DTC program. AA001 and AA003.
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Posner, I., Schroeter, D., Newman, P.M. (2008). Using Scene Similarity for Place Labelling. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_9
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DOI: https://doi.org/10.1007/978-3-540-77457-0_9
Publisher Name: Springer, Berlin, Heidelberg
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