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Topological segmentation of indoors/outdoors sequences of spherical views
| Content Provider | Hyper Articles en Ligne (HAL) |
|---|---|
| Author | Chapoulie, Alexandre Rives, Patrick Filliat, David |
| Abstract | Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmen- tation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and out- door environment segmentation without elaborating a complete topological navigation system. The approach is novel in that environment sensing is performed using spherical images. Envi- ronment 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. |
| Ending Page | 4295 |
| Page Count | 8 |
| Starting Page | 4288 |
| File Format | |
| Language | English |
| Publisher Date | 2012-10-01 |
| Access Restriction | Open |
| Subject Keyword | info Computer Science [cs] Robotics [cs.RO] |
| Content Type | Text |
| Resource Type | Article |
