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Qualitative image based localization in indoors environments | IEEE Conference Publication | IEEE Xplore

Qualitative image based localization in indoors environments


Abstract:

Man made indoor environments possess regularities, which can be efficiently exploited in automated model acquisition by means of visual sensing. In this context we propos...Show More

Abstract:

Man made indoor environments possess regularities, which can be efficiently exploited in automated model acquisition by means of visual sensing. In this context we propose an approach for inferring a topological model of an environment from images or the video stream captured by a mobile robot during exploration. The proposed model consists of a set of locations and neighborhood relationships between them. Initially each location in the model is represented by a collection of similar, temporally adjacent views, with the similarity defined according to a simple appearance based distance measure. The sparser representation is obtained in a subsequent learning stage by means of learning vector quantization (LVQ). The quality of the model is tested in the context of qualitative localization scheme by means of location recognition: given a new view, the most likely location where that view came from is determined.
Date of Conference: 18-20 June 2003
Date Added to IEEE Xplore: 15 July 2003
Print ISBN:0-7695-1900-8
Print ISSN: 1063-6919
Conference Location: Madison, WI, USA

References

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