Navigation using an appearance based topological map

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 3927-3932

  Booij, O ^a   Terwijn, B ^a   Zivkovic, Z ^a   Krose B ^a  

^a UNIVERSITY OF AMSTERDAM   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; INFORMATION ANALYSIS; NAVIGATION; ROBUST CONTROL; SEMANTICS; TOPOLOGY;

EPIPOLAR GEOMETRY; REAL DATA; TOPOLOGICAL MAPS; VISION SYSTEMS;

ROBOTICS;

EID: 36348934054     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364081     Document Type: Conference Paper

References (22)

1. C. Stachniss, O. Martínez-Mozos, A. Rottmann, and W. Burgard, "Semantic labeling of places," in Proceedings of the International Symposium on Robotics Research, San Francisco, CA, USA, 2005.
2. A. Tapus and R. Siegwart, "A cognitive modeling of space using fingerprints of places for mobile robot navigation," in IEEE Conf on Robotics and Automation, Orlando, Florida, May 2006.
3. I. Ulrich and I. Nourbakhsh, "Appearance-based place recognition for topological, localization," in Proceedings of ICRA 2000, vol. 2, April 2000, pp. 1023 - 1029.
4. S. Vasudevan, S. Gachter, M. Berger, and R. Siegwart, "Cognitive maps for mobile robots an object based approach," in Proceedings of the IEEE IROS 2006 workshop ?From Sensors to Human Spatial Concepts (FS2HSC 2006), Beijing, China, 2006.
5. S. Se, D. Lowe, and J. Little, "Global localization using distinctive visual features," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Lausanne, Switzerland, October 2002, pp. 226-231. [Online]. Available: citeseer.ist.psu.edu/article/se02global.html
6. Z. Zivkovic, B. Bakker, and B. Kröse, "Hierarchical map building using visual, landmarks and geometric constraints," in Intl. Conf. on Intelligent Robotics and Systems. Edmundton, Canada: IEEE/JRS, August 2005.
7. B. Bakker, Z. Zivkovic, and B. Kröse, "Hierarchical dynamic programming for robot path planning," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 3720-3725.
8. Z. Zivkovic, B. Bakker, and B. Kröse, "Hierarchical map building and planning based on graph partitioning," in IEEE International Conference on Robotics and Automation, 2006, pp. 803-809.
9. G. Mariottini, G. Oriolo, and D. Prattichizzo, "Image-based visual servoing for nonholonomic mobile robots with central catadioptric camera," in ICRA, Orlando, Florida, May, 15-19 2006, pp. 497 - 503.
10. A. A. Argyros, K. E. Bekris, S. C. Orfanoudakis, and L. E. Kavraki, "Robot homing by exploiting panoramic vision," Autonomous Robots, vol. 19, no. 1, pp. 7-25, 2005.
11. F. Schaffalitzky and A. Zisserman, "Multi-view matching for unordered image sets, or "How do I organize my holiday snaps?"," in Proceedings of the 7th European Conference on Computer vision, Copenhagen, Denmark, vol. 1. Springer-Verlag, 2002, pp. 414-431.
12. Z. Zivkovic and O. Booij, "How did we built our hyperbolic mirror omnidirectional camera - practical issues and basic geometry," University of Amsterdam, Tech. Rep. IAS-UVA-05-04, 2005.
13. D. G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, vol. 60, no. 2, pp. 91-110, 2004.
14. T. Spexard, S. Li, B. Wrede, J. Fritsch, G. Sagerer, O. Booij, Z. Zivkovic, B. Terwijn, and B. Kröse, "Biron, where are you? enabling a robot to learn new places in a real home environment by integrating spoken dialog and visual localization," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. IEEE, October 2006, to appear.
15. R. Hartley and A. Zisserman, Multiple view geometry in computer vision, secon edition. Cambridge University Press, 2003.
16. P. H. S. Torr and D. W. Murray, "The development and comparison of robust methods for estimating the fundamental matrix," IJCV, vol. 24, no. 3, pp. 271-300, 1997.
17. M. Brooks, L. de Agapito, D. Huynh, and L. Baumela, "Towards robust metric reconstruction via a dynamic uncalibrated stereo head," 1998. [Online]. Available: citeseer.csail.mit.edu/brooks98towards.html
18. J. Kosecká, F. Li, and X. Yang, "Global localization and relative positioning based on scale-invariant keypoints." Robotics and Autonomous Systems, vol. 52, no. 1, pp. 27-38, 2005.
19. B. K. P. Horn, "Relative orientation," Int. J. Comput. Vision, vol. 4, no. 1, pp. 59-78, 1990.
20. O. Chum, T. Werner, and J. Matas, "Epipolar geometry estimation via ransac benefits from the oriented epipolar constraint," icpr, vol. 01, pp. 112-115, 2004.
21. Y. Mezouar, H. Hadj Abdelkader, P. Martinet, and F. Chaumette, "Visual servoing from 3d straight lines with central catadioptric cameras," in Fifth Workshop on Omnidirectional Vision, Omnivis'2004, Prague, Czech Republic, May 2004.
22. E. W. Dijkstra, "A note on two problems in connexion with graphs," Numerische Mathematik, vol. 1, no. 1, pp. 269-271, December 1959.