TY - GEN
T1 - Incremental spectral clustering and seasons
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
AU - Valgren, Christoffer
AU - Lilienthal, Achim
PY - 2008
Y1 - 2008
N2 - The problem of appearance-based mapping and navigation in outdoor environments is far from trivial. In this paper, an appearance-based topological map, covering a large, mixed indoor and outdoor environment, is built incrementally by using panoramic images. The map is based on image similarity, so that the resulting segmentation of the world corresponds closely to the human concept of a place. Using high-resolution images and the epipolar constraint, the resulting map is shown to be very suitable for localization, even when the environment has undergone seasonal changes.
AB - The problem of appearance-based mapping and navigation in outdoor environments is far from trivial. In this paper, an appearance-based topological map, covering a large, mixed indoor and outdoor environment, is built incrementally by using panoramic images. The map is based on image similarity, so that the resulting segmentation of the world corresponds closely to the human concept of a place. Using high-resolution images and the epipolar constraint, the resulting map is shown to be very suitable for localization, even when the environment has undergone seasonal changes.
UR - http://www.scopus.com/inward/record.url?scp=51649104410&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543477
DO - 10.1109/ROBOT.2008.4543477
M3 - Conference contribution
AN - SCOPUS:51649104410
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1856
EP - 1861
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -