An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geometric model. Through use of vision and place recognition a number of opportunities open up in terms of flexibility and association of semantics to the model. To achieve this the present paper presents an appearance based method for place recognition. The method is based on a large margin classifier in combination with a rich global image descriptor. The method is robust to variations in illumination and minor scene changes. The method is evaluated across several different cameras, changes in time-of-day and weather conditions. The results clearly demonstrate the value of the approach.

A discriminative approach to robust visual place recognition / Pronobis, A; Caputo, Barbara; Jensfelt, P; Christensen, H.. - STAMPA. - (2006), pp. 3829-3836. (Intervento presentato al convegno 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Beijing; China nel 09-15 October 2006) [10.1109/IROS.2006.281789].

A discriminative approach to robust visual place recognition

CAPUTO, BARBARA;
2006

Abstract

An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geometric model. Through use of vision and place recognition a number of opportunities open up in terms of flexibility and association of semantics to the model. To achieve this the present paper presents an appearance based method for place recognition. The method is based on a large margin classifier in combination with a rich global image descriptor. The method is robust to variations in illumination and minor scene changes. The method is evaluated across several different cameras, changes in time-of-day and weather conditions. The results clearly demonstrate the value of the approach.
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
A discriminative approach to robust visual place recognition / Pronobis, A; Caputo, Barbara; Jensfelt, P; Christensen, H.. - STAMPA. - (2006), pp. 3829-3836. (Intervento presentato al convegno 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Beijing; China nel 09-15 October 2006) [10.1109/IROS.2006.281789].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/950585
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