The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
Appearance-based place recognition for topological localization
Abstract
This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme. The system has been evaluated with eight cross-sequence tests in four unmodified environments, three indoors and one outdoors. In all eight cases, the system successfully tracked the mobile robot's position. The system correctly classified between 87% and 98% of the input color images. For the remaining images, the system was either momentarily confused or uncertain, but never classified an image incorrectly.
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Cites
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The Earth Mover's Distance as a Metric for Image Retrieval
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A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Kuipers, B., & Byun, Y.-T. (1991) · Robotics and Autonomous Systems · doi:10.1016/0921-8890(91)90014-c · Cited by 707
Integration of representation into goal-driven behavior-based robots
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A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Kuipers, B. J., & Byun, Y.-T. (1993) · Cited by 327
Vision-based motion planning and exploration algorithms for mobile robots
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Continuous mobile robot localization: vision vs. laser
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Using Gateways To Build A Route Map
Kortenkamp, D., Baker, L., & Weymouth, T. E. (2005) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1992.602138 · Cited by 22
Cited by
Simultaneous localization and mapping (SLAM): part II
Bailey, T., & Durrant-Whyte, H. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1678144 · Cited by 2,554
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
Cummins, M., & Newman, P. (2008) · The International Journal of Robotics Research · doi:10.1177/0278364908090961 · Cited by 1,472
Visual Place Recognition: A Survey
Lowry, S., Sünderhauf, N., Newman, P., Leonard, J. J., Cox, D., Corke, P., & Milford, M. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2496823 · Cited by 1,079
Context-based vision system for place and object recognition
Torralba, Murphy, Freeman, & Rubin (2003) · Proceedings Ninth IEEE International Conference on Computer Vision · doi:10.1109/iccv.2003.1238354 · Cited by 867
CENTRIST: A Visual Descriptor for Scene Categorization
Wu, J., & Rehg, J. M. (2011) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2010.224 · Cited by 709
Metadata
- Authors
- Ulrich, I., & Nourbakhsh, I.
- Venue
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- Publisher
- IEEE
- Published
- 2002-11-07
- Volume
- 2
- Pages
- 1023-1029
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2132185185
- Cited by
- 512
- References
- 10
- FWCI
- 49.61
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Ulrich, I., & Nourbakhsh, I. (2002). Appearance-based place recognition for topological localization. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). https://doi.org/10.1109/robot.2000.844734
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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