Incremental spectral clustering and its application to topological mapping

Valgren, Christoffer and Duckett, Tom and Lilienthal , Achim (2007) Incremental spectral clustering and its application to topological mapping. In: Proceedings of ICRA-2007, IEEE International Conference on Robotics and Automation, April 10-14, 2007, Roma, Italy.

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Abstract

This paper presents a novel use of spectral clustering algorithms to support cases where the entries in the affinity matrix are costly to compute. The method is incremental – the
spectral clustering algorithm is applied to the affinity matrix after each row/column is added – which makes it possible to inspect the clusters as new data points are added. The method is well suited to the problem of appearance-based, on-line topological mapping for mobile robots. In this problem domain, we show that we can reduce environment-dependent parameters of the clustering algorithm to just a single, intuitive parameter. Experimental results in large outdoor and indoor environments
show that we can close loops correctly by computing only a fraction of the entries in the affinity matrix. The accompanying video clip shows how an example map is produced by the
algorithm.

Item Type:Conference or Workshop Item (Paper)
Additional Information:This paper presents a novel use of spectral clustering algorithms to support cases where the entries in the affinity matrix are costly to compute. The method is incremental – the spectral clustering algorithm is applied to the affinity matrix after each row/column is added – which makes it possible to inspect the clusters as new data points are added. The method is well suited to the problem of appearance-based, on-line topological mapping for mobile robots. In this problem domain, we show that we can reduce environment-dependent parameters of the clustering algorithm to just a single, intuitive parameter. Experimental results in large outdoor and indoor environments show that we can close loops correctly by computing only a fraction of the entries in the affinity matrix. The accompanying video clip shows how an example map is produced by the algorithm.
Keywords:mobile robot, topological mapping, SLAM, robot vision
Subjects:G Mathematical and Computer Sciences > G760 Machine Learning
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:1685
Deposited By: Tom Duckett
Deposited On:20 Nov 2008 16:32
Last Modified:13 Mar 2013 08:30

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