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Published Articles >> Table of Contents >> Abstract
2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '03) - Volume 2
p. 3
Qualitative Image Based Localization in Indoors Environments
Jana Kosecka, George Mason University
Liang Zhou, George Mason University
Philip Barber, George Mason University
Zoran Duric, George Mason University
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/CVPR.2003.1211445
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| Abstract |
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Man made indoors environments posses regularities which can be efficiently exploited in automated model acquisition by means of visual sensing. In this context we propose an approach for inferring a topological model of an environment from images or the video stream captured by a mobile robot during exploration. The proposed model consists of a set of locations and neighbourhood relationships between them. Initially each location in the model is represented by a collection of similar, temporally adjacent views, with the similarity defined according to a simple appearance based distance measure. The sparser representation is obtained in a subsequent learning stage by means of Learning Vector Quantization (LVQ). The quality of the model is tested in the context of qualitative localization scheme by means of location recognition: given a new view, the most likely location where that view came from is determined.
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Citation:
Jana Kosecka, Liang Zhou, Philip Barber, Zoran Duric,
"Qualitative Image Based Localization in Indoors Environments,"
cvpr,
p. 3,
2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '03) - Volume 2,
2003
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