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Topological segmentation of indoors/outdoors sequences of spherical views (2012).
| Content Provider | CiteSeerX |
|---|---|
| Author | Chapoulie, Re Rives, Patrick Filliat, David |
| Abstract | Abstract — Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmentation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and outdoor environment segmentation without elaborating a complete topological navigation system. The approach is novel in that environment sensing is performed using spherical images. Environment structure estimation is performed by a global structure descriptor specially adapted to the spherical representation. This descriptor is processed by a custom designed algorithm which detects change-points defining the segmentation between topological places. I. |
| File Format | |
| Publisher Date | 2012-01-01 |
| Access Restriction | Open |
| Subject Keyword | Spherical View Topological Place Topological Segmentation Indoors Outdoors Sequence Complete Topological Navigation System Topological Graph Challenging Issue Spherical Representation Outdoor Environment Segmentation Outdoor Environment Global Structure Descriptor Abstract Topological Navigation Environment Structure Estimation Spherical Image Environment Sensing Common Approach |
| Content Type | Text |
