PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Visual topological map building in self-similar environments
Toon Goedeme, Tinne Tuytelaars, Luc Van Gool and Luc Van Gool
In: International Conference on Informatics in Control, Automation and Robotics., 1-5 August 2006, Setubal, Portugal.


This paper describes a method to automatically build topological maps for robot navigation out of a sequence of visual observations taken from a camera mounted on the robot. This direct non-metrical approach relies completely on the detection of loop closings, i.e. repeated visitations of one particular place. In natural environments, visual loop closing can be very hard, for two reasons. Firstly, the environment at one place can look differently at different time instances due to illumination changes and viewpoint differences. Secondly, there can be different places that look alike, i.e. the environment is self-similar. Here we propose a method that combines state-of-the-art visual comparison techniques and evidence collection based on Dempster-Shafer probability theory to tackle this problem.

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EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Machine Vision
ID Code:3631
Deposited By:Luc Van Gool
Deposited On:14 February 2008