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  1. Journal of Central South University of Technology
  2. Journal of Central South University of Technology : Volume 13
  3. Journal of Central South University of Technology : Volume 13, Issue 5, October 2006
  4. Place recognition based on saliency for topological localization
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Journal of Central South University of Technology : Volume 24
Journal of Central South University of Technology : Volume 23
Journal of Central South University of Technology : Volume 22
Journal of Central South University of Technology : Volume 21
Journal of Central South University of Technology : Volume 20
Journal of Central South University of Technology : Volume 19
Journal of Central South University of Technology : Volume 18
Journal of Central South University of Technology : Volume 17
Journal of Central South University of Technology : Volume 16
Journal of Central South University of Technology : Volume 15
Journal of Central South University of Technology : Volume 14
Journal of Central South University of Technology : Volume 13
Journal of Central South University of Technology : Volume 13, Issue 6, December 2006
Journal of Central South University of Technology : Volume 13, Issue 5, October 2006
Effect of low temperature aging on microstructure and mechanical properties of super-high strength aluminum alloy
Influence of addition of B$_{2}$O$_{3}$ on properties of Yb$^{3+}$-doped phosphate laser glass
Stochastic simulation of growth curves of Acidithiobacillus ferrooxidans
Electrochemical kinetics of gold dissolving in alkaline thiourea solution
Decoloration and mineralization of yeast wastewater by using Ce-Fe/Al$_{2}$O$_{3}$ as heterogeneous photo-Fenton catalyst
Analysis of disagreement between numerically predicted and experimental heat transfer data of impinging jet
Approach based on wavelet analysis for detecting and amending anomalies in dataset
Effect of electromagnetic force and anode gas on electrolyte flow in aluminum electrolysis cell
Application of hilbert-huang transform to denoising in vortex flowmeter
Optimization on temperature efficiency and switch time of thin-walled regenerator with perturbation analysis
Influences of seed size and number on agglomeration in synthetic bayer liquors
Synthesis, characterization and bioactivity evaluation of diallyl disulfide
Synthesis and characterization of bismuth-doped tin dioxide nanometer powders
Some issues for discipline of intelligence science
Immune evolutionary algorithms with domain knowledge for simultaneous localization and mapping
Place recognition based on saliency for topological localization
Design of dead reckoning system for mobile robot
Multi-robot task allocation for exploration
Multi-objective intelligent coordinating optimization blending system based on qualitative and quantitative synthetic model
Design of decentralized robust {ie558-1} state feedback controllerstate feedback controller
Selective image enhancement method for low energy target information area
A new support vector machine optimized by improved particle swarm optimization and its application
Optimizing neural network forecast by immune algorithm
Numerical simulation for influence of excavation and blasting vibration on stability of mined-out area
Full feature data model for spatial information network integration
Formative mechanism of preferential solution flow during dump leaching
Signal modulating noise effect in bistable stochastic resonance systems and its analog simulation
Cranny density parameters and porosity measured by elastic wave method in quasi-isotropic cranny rock masses
Journal of Central South University of Technology : Volume 13, Issue 4, August 2006
Journal of Central South University of Technology : Volume 13, Issue 3, June 2006
Journal of Central South University of Technology : Volume 13, Issue 2, April 2006
Journal of Central South University of Technology : Volume 13, Issue 1, February 2006
Journal of Central South University of Technology : Volume 12
Journal of Central South University of Technology : Volume 11
Journal of Central South University of Technology : Volume 10
Journal of Central South University of Technology : Volume 9
Journal of Central South University of Technology : Volume 8
Journal of Central South University of Technology : Volume 7
Journal of Central South University of Technology : Volume 6
Journal of Central South University of Technology : Volume 5
Journal of Central South University of Technology : Volume 4

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Place recognition based on saliency for topological localization

Content Provider Springer Nature Link
Author Wang, Lu Cai, Zi xing
Copyright Year 2001
Abstract Based on salient visual regions for mobile robot navigation in unknown environments, a new place recognition system was presented. The system uses monocular camera to acquire omni-directional images of the environment where the robot locates. Salient local regions are detected from these images using center-surround difference method, which computes opponencies of color and texture among multi-scale image spaces. And then they are organized using hidden Markov model (HMM) to form the vertex of topological map. So localization, that is place recognition in our system, can be converted to evaluation of HMM. Experimental results show that the saliency detection is immune to the changes of scale, 2D rotation and viewpoint etc. The created topological map has smaller size and a higher ratio of recognition is obtained.
Starting Page 536
Ending Page 541
Page Count 6
File Format PDF
ISSN 10059784
Journal Journal of Central South University of Technology
Volume Number 13
Issue Number 5
e-ISSN 19930666
Language English
Publisher Central South University of Technology
Publisher Date 2001-01-01
Publisher Place Changsha
Access Restriction Subscribed
Subject Keyword visual saliency place recognition mobile robot localization hidden Markov model Engineering Metallic Materials
Content Type Text
Resource Type Article
Subject Mechanics of Materials Materials Science Mechanical Engineering
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