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Towards Robust Place Recognition for Robot Localization
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1396-0102
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2008 (English)In: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 / [ed] IEEE, 2008, 530-537 p.Conference paper, Published paper (Refereed)
Abstract [en]

Localization and context interpretation are two key competences for mobile robot systems. Visual place recognition, as opposed to purely geometrical models, holds promise of higher flexibility and association of semantics to the model. Ideally, a place recognition algorithm should be robust to dynamic changes and it should perform consistently when recognizing a room (for instance a corridor) in different geographical locations. Also, it should be able to categorize places, a crucial capability for transfer of knowledge and continuous learning. In order to test the suitability of visual recognition algorithms for these tasks, this paper presents a new database, acquired in three different labs across Europe. It contains image sequences of several rooms under dynamic changes, acquired at the same time with a perspective and omnidirectional camera, mounted on a socket. We assess this new database with an appearance based algorithm that combines local features with support vector machines through an ad-hoc kernel. Results show the effectiveness of the approach and the value of the database.

Place, publisher, year, edition, pages
2008. 530-537 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
Keyword [en]
Boolean functions, Database systems, Evolutionary algorithms, Industrial engineering, Information theory, Robot applications, Robotics, Support vector machines
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-52858DOI: 10.1109/ROBOT.2008.4543261ISI: 000258095000084Scopus ID: 2-s2.0-51649093795OAI: oai:DiVA.org:kth-52858DiVA: diva2:467975
Conference
IEEE International Conference on Robotics and Automation (ICRA'08), Pasadena, CA, MAY 19-23, 2008
Available from: 2011-12-20 Created: 2011-12-20 Last updated: 2011-12-21Bibliographically approved

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Pronobis, AndrzejJensfelt, Patric

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Ullah, Muhammad MuneebPronobis, AndrzejJensfelt, PatricChristensen, Henrik
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