Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping

Detecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, ima...

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Detalles Bibliográficos
Autores: Nicosevici, Tudor, García Campos, Rafael
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2012
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/8647
Acceso en línea:http://hdl.handle.net/10256/8647
Access Level:acceso embargado
Palabra clave:Imatges -- Processament
Image processing
Visió per ordinador
Computer vision
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spelling Automatic Visual Bag-of-Words for Online Robot Navigation and MappingNicosevici, TudorGarcía Campos, RafaelImatges -- ProcessamentImage processingVisió per ordinadorComputer visionDetecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, images corresponding to the same scene region can be associated. State-of-theart proposals that address this topic use prebuilt vocabularies that generally require a priori knowledge of the environment. We propose a novel method for appearance-based navigation and mapping where the visual vocabularies are built online, thus eliminating the need for prebuilt data. We also show that the proposed technique allows efficient loop-closure detection, even at small vocabulary sizes, resulting in a higher computational efficiencyThis work was supported in part by European Union Project FP7-ICT-2011-288704 and the Spanish Ministry of Science and Innovation under Grant CTM2010-15216Institute of Electrical and Electronics Engineers (IEEE)Ministerio de Ciencia e Innovación (Espanya)infoinfo2012info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10256/8647http://hdl.handle.net/10256/8647© IEEE Transactions on Robotics, 2012, vol. 28, núm. 4, p. 886-898Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.1109/TRO.2012.2192013info:eu-repo/semantics/altIdentifier/issn/1552-3098info:eu-repo/semantics/altIdentifier/eissn/1941-0468info:eu-repo/grantAgreement/MICINN//CTM2010-15216info:eu-repo/grantAgreement/EC/FP7/288704Tots els drets reservatsinfo:eu-repo/semantics/embargoedAccessoai:recercat.cat:10256/86472026-05-29T05:05:01Z
dc.title.none.fl_str_mv Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
title Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
spellingShingle Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
Nicosevici, Tudor
Imatges -- Processament
Image processing
Visió per ordinador
Computer vision
title_short Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
title_full Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
title_fullStr Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
title_full_unstemmed Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
title_sort Automatic Visual Bag-of-Words for Online Robot Navigation and Mapping
dc.creator.none.fl_str_mv Nicosevici, Tudor
García Campos, Rafael
author Nicosevici, Tudor
author_facet Nicosevici, Tudor
García Campos, Rafael
author_role author
author2 García Campos, Rafael
author2_role author
dc.contributor.none.fl_str_mv Ministerio de Ciencia e Innovación (Espanya)
dc.subject.none.fl_str_mv Imatges -- Processament
Image processing
Visió per ordinador
Computer vision
topic Imatges -- Processament
Image processing
Visió per ordinador
Computer vision
description Detecting already-visited regions based on their visual appearance helps reduce drift and position uncertainties in robot navigation and mapping. Inspired from content-based image retrieval, an efficient approach is the use of visual vocabularies to measure similarities between images. This way, images corresponding to the same scene region can be associated. State-of-theart proposals that address this topic use prebuilt vocabularies that generally require a priori knowledge of the environment. We propose a novel method for appearance-based navigation and mapping where the visual vocabularies are built online, thus eliminating the need for prebuilt data. We also show that the proposed technique allows efficient loop-closure detection, even at small vocabulary sizes, resulting in a higher computational efficiency
publishDate 2012
dc.date.none.fl_str_mv 2012
info
info
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/8647
http://hdl.handle.net/10256/8647
url http://hdl.handle.net/10256/8647
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/TRO.2012.2192013
info:eu-repo/semantics/altIdentifier/issn/1552-3098
info:eu-repo/semantics/altIdentifier/eissn/1941-0468
info:eu-repo/grantAgreement/MICINN//CTM2010-15216
info:eu-repo/grantAgreement/EC/FP7/288704
dc.rights.none.fl_str_mv Tots els drets reservats
info:eu-repo/semantics/embargoedAccess
rights_invalid_str_mv Tots els drets reservats
eu_rights_str_mv embargoedAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv © IEEE Transactions on Robotics, 2012, vol. 28, núm. 4, p. 886-898
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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