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FAB-MAP 3D: Topological Mapping with Spatial and Visual Appearance

Abstract:

This paper describes a probabilistic framework for appearance based navigation and mapping using spatial and visual appearance data. Like much recent work on appearance based navigation we adopt a bag-of-words approach in which positive or negative observations of visual words in a scene are used to discriminate between already visited and new places. In this paper we add an important extra dimension to the approach. We explicitly model the spatial distribution of visual words as a random gra...

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Publication status:
Published

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Publisher copy:
10.1109/ROBOT.2010.5509587

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Pages:
2649-2656
Host title:
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Publication date:
2010-01-01
DOI:
ISSN:
1050-4729
Source identifiers:
107118
ISBN:
9781424450381
Pubs id:
pubs:107118
UUID:
uuid:0464bd49-54d2-4c4c-8501-42c6af29a33b
Local pid:
pubs:107118
Deposit date:
2012-12-19

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