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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/4094

Title: Improved appearance-based matching in similar and dynamic environments using a vocabulary tree
Authors: Sabatta, D
Scaramuzza, D
Siegwart, R
Keywords: Vocabulary tree
Appearance-based mapping
Topological map building
Robotics
Issue Date: May-2010
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Citation: Sabatta, D, Scaramuzza, D and Siegwart, R. 2010. Improved appearance-based matching in similar and dynamic environments using a vocabulary tree. 2010 IEEE International Conference on Robotics and Automation. 3-8 May 2010, Anchorange, Alaska, USA, pp 1008-1013
Abstract: In this paper the authors present a topological map building algorithm based on a Vocabulary Tree that is robust to features present in dynamic or similar environments. The algorithm recognises incorrect loop closures, not supported by the odometry, and uses this information to update the feature weights in the tree to suppress further associations from these features. Two methods of adjusting these feature entropies are proposed, one decreasing entropy related to incorrect features in a uniform manner and the other proportional to the contribution of the said feature. Preliminary results showing the performance of the proposed method are presented where it is found that by adjusting the feature entropies, the number of incorrect associations can be reduced while improving the quality of the correct matches
Description: 2010 IEEE International Conference on Robotics and Automation. 3-8 May 2010, Anchorange, Alaska, USA.
URI: http://hdl.handle.net/10204/4094
ISBN: 978-1-4244-5040-4
Appears in Collections:Mobile intelligent autonomous systems
General science, engineering & technology

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