A discriminative approach to robust visual place recognition

A Pronobis, B Caputo, P Jensfelt… - 2006 IEEE/RSJ …, 2006 - ieeexplore.ieee.org
2006 IEEE/RSJ International Conference on Intelligent Robots and …, 2006ieeexplore.ieee.org
An important competence for a mobile robot system is the ability to localize and perform
context interpretation. This is required to perform basic navigation and to facilitate local
specific services. Usually localization is performed based on a purely geometric model.
Through use of vision and place recognition a number of opportunities open up in terms of
flexibility and association of semantics to the model. To achieve this, the present paper
presents an appearance based method for place recognition. The method is based on a …
An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geometric model. Through use of vision and place recognition a number of opportunities open up in terms of flexibility and association of semantics to the model. To achieve this, the present paper presents an appearance based method for place recognition. The method is based on a large margin classifier in combination with a rich global image descriptor. The method is robust to variations in illumination and minor scene changes. The method is evaluated across several different cameras, changes in time-of-day and weather conditions. The results clearly demonstrate the value of the approach
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