Topological slam using fast vision techniques
Werner, Felix, Maire, Frederic, & Sitte, Joaquin (2009) Topological slam using fast vision techniques. In Advances in Robotics : FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009, Proceedings. Springer Berlin Heidelberg, pp. 187-198. (In Press)
In this paper we propose a method for vision only topological simultaneous localisation and mapping (SLAM).
Our approach does not use motion or odometric information but a sequence of colour histograms from visited places. In particular, we address the perceptual aliasing problem which occurs using external observations only in topological navigation.
We propose a Bayesian inference method to incrementally build a topological map by inferring spatial relations from the sequence of observations while simultaneously estimating the robot's location. The algorithm aims to build a small map which is consistent with local adjacency information extracted from the sequence measurements. Local adjacency information is incorporated to disambiguate places which otherwise would appear to be the same.
Experiments in an indoor environment show that the proposed technique is capable of dealing with perceptual aliasing using visual observations only and successfully performs topological SLAM.
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|Item Type:||Book Chapter|
|Keywords:||Robot Navigation, SLAM, Colour Histogram, Neighbourhood Information, Topological Mapping|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
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 2009 Springer.|
|Deposited On:||23 Jul 2009 14:43|
|Last Modified:||09 Jun 2010 23:55|
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