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Incremental learning for place recognition in dynamic environments
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
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: 0000-0002-1170-7162
2007 (English)In: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, IEEE , 2007, 721-728 p.Conference paper, Published paper (Refereed)
Abstract [en]

Vision-based place recognition is a desirable feature for an autonomous mobile system. In order to work in realistic scenarios, visual recognition algorithms should be adaptive, i.e. should be able to learn from experience and adapt continuously to changes in the environment. This paper presents a discriminative incremental learning approach to place recognition. We use a recently introduced version of the incremental SVM, which allows to control the memory requirements as the system updates its internal representation. At the same time, it preserves the recognition performance of the batch algorithm. In order to assess the method, we acquired a database capturing the intrinsic variability of places over time. Extensive experiments show the power and the potential of the approach.

Place, publisher, year, edition, pages
IEEE , 2007. 721-728 p.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-61518DOI: 10.1109/IROS.2007.4398986ISI: 000254073200114Scopus ID: 2-s2.0-51349116583ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:kth-61518DiVA: diva2:479306
Conference
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007; San Diego, CA; 29 October 2007 through 2 November 2007
Note
QC 20120219Available from: 2012-01-17 Created: 2012-01-17 Last updated: 2012-02-19Bibliographically approved

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Pronobis, AndrzejJensfelt, Patric

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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