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Using scene similarity for place labelling

Abstract:
This paper is about labelling regions of a mobile robot's workspace using scene appearance similarity. We do this by operating on a single matrix which expresses the pairwise similarity between all captured scenes. We describe and motivate a sequence of algorithms which, in conjunction with spatial constraints provided by the continuous motion of the vehicle, produce meaningful workspace segmentations. We provide detailed experimental results from various outdoor trials. © 2008 Springer-Verlag Berlin Heidelberg.
Publication status:
Published

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Publisher copy:
10.1007/978-3-540-77457-0_9

Authors


Schroeter, D More by this author
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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Volume:
39
Pages:
85-98
Publication date:
2008
DOI:
EISSN:
1610-742X
ISSN:
1610-7438
URN:
uuid:dbc95bea-5f66-475c-9e79-954750d90792
Source identifiers:
63573
Local pid:
pubs:63573
ISBN:
978-3-540-77456-3

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