On the Induction of Topological Maps from Sequences of Colour Histograms

Werner, Felix, Sitte, Joaquin, & Maire, Frederic D. (2007) On the Induction of Topological Maps from Sequences of Colour Histograms. In Digital Image Computing: Techniques and Applications (DICTA), 3-5/12/2007, Glenelg, South Australia, Australia.


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This paper presents an appearance--based method to automatically determine places from vision data for topological mapping. The approach exploits the continuity of the visual appearance of consecutive images when a robot traverses the environment. Places are determined by clustering colour histograms, and a probabilistic filtering strategy eliminates spurious places with weak evidence.

Further, we discuss steps towards the induction of the topology of an environment from a sequence of visited places. Particularly, our system faces the problem of physically different places which appear identical in perception space.

We present results from experiments on two data sets, one consist of panoramic images and another one includes images from a standard camera.

Impact and interest:

2 citations in Scopus
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ID Code: 12240
Item Type: Conference Paper
Refereed: Yes
DOI: 10.1109/DICTA.2007.4426792
ISBN: 0769530672
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2007 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 29 Jan 2008 00:00
Last Modified: 29 Feb 2012 13:33

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