Valgren, Christoffer, 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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Incremental_Spectral_Clustering_-_Paper.pdf 331kB |
| Item Type: | Conference or Workshop contribution (Paper) |
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| Item Status: | Live Archive |
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.
| 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. |
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| 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 On: | 20 Nov 2008 16:32 |
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