Using scene similarity for place labelling

Conference item

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.

Authors: Posner, I; Schroeter, D; Newman, P

• Publication status: Published
• Host title: EXPERIMENTAL ROBOTICS
• Volume: 39
• Pages: 85-98
• Publication date: 2008-01-01
• DOI: 10.1007/978-3-540-77457-0_9
• EISSN: 1610-742X
• ISSN: 1610-7438
• ISBN: 9783540774563