NDLI: Scene association for mobile robot navigation

Content Provider	IEEE Xplore Digital Library
Author	Johns, E. Guang-Zhong Yang
Copyright Year	2010
Description	Author affiliation: Institute of Biomedical Engineering, Imperial College London, UK (Johns, E.; Guang-Zhong Yang)
Abstract	Accurate, efficient and robust location recognition is a fundamental task for any mobile robot. This paper presents a new approach using visual features to efficiently represent a series of locations along a path in an indoor environment. In the training stage, local features which are detected across multiple images from a single tour are combined to represent a real-world landmark, modelled by the expected variance of its descriptor. Those landmarks which represent the scene in the most efficient and discriminative manner are then retained, and this selection is optimized with respect to the scale of the environment. In the recognition stage, features detected in an image are matched to the landmarks in memory, based upon a novel similarity measure drawing from feature co-occurrence statistics.
Starting Page	4698
Ending Page	4703
File Size	1371768
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649399
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feature extraction Histograms Robots Training Context Optimization Monitoring
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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