Incremental topological mapping using omnidirectional vision

Valgren, Christoffer, Lilienthal, Achim and Duckett, Tom (2006) Incremental topological mapping using omnidirectional vision. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


This paper presents an algorithm that builds topological maps, using omnidirectional vision as the only sensor modality. Local features are extracted from images obtained in sequence, and are used both to cluster the images into nodes and to detect links between the nodes. The algorithm is incremental, reducing the computational requirements of the corresponding batch algorithm. Experimental results in a complex, indoor environment show that the algorithm produces topologically correct maps, closing loops without suffering from perceptual aliasing or false links. Robustness to lighting variations was further demonstrated by building correct maps from combined multiple datasets collected over a period of 2 months

Keywords:mobile robot localization, navigation, panoramic vision, place recognition
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
ID Code:28035
Deposited On:28 Jul 2017 10:07

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