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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
Department:
Oxford, MPLS, Engineering Science
Pages:
2649-2656
Publication date:
2010
DOI:
ISSN:
1050-4729
URN:
uuid:0464bd49-54d2-4c4c-8501-42c6af29a33b
Source identifiers:
107118
Local pid:
pubs:107118
ISBN:
9781424450381

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