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Automatic Place Determination using Colour Histograms and Self-Organising Maps

Werner, Felix, Sitte, Joaquin, & Maire, Frederic D. (2007) Automatic Place Determination using Colour Histograms and Self-Organising Maps. In 13th International Conference on Advanced Robotics, 21-24 August 2007, Jeju, Korea Republic.

Abstract

In this paper we propose a model-free appearance-based method to automatically determine places as landmarks for topological navigation. Most of the current approaches for automatically selecting landmarks are based on template models or complex feature detectors. We use modified colour histograms, more precisely an entropy-constrained 3D~colour clustering as appearance-based image features which adapt to the colour distribution of the environment. An unsupervised neural network learning strategy is used to automatically determine places by clustering the modified histograms. Results from experiments in an indoor environment with a robot equipped with a panoramic camera show that the places, which were clustered in histogram space refer to physically close positions in the world domain in a large degree and can be used as landmarks for navigation purposes.

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Full-text downloads:

158 since deposited on 10 Sep 2007
15 in the past twelve months

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ID Code: 9355
Item Type: Conference Paper
Additional URLs:
Keywords: Mobile Robotics, Self, Organising Maps, Colour Histogram, Topological Localisation
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Neural Evolutionary and Fuzzy Computation (080108)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Image Processing (080106)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Pattern Recognition and Data Mining (080109)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2007 (please consult author)
Deposited On: 10 Sep 2007
Last Modified: 29 Feb 2012 23:33

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