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dc.contributor.author Sabatta, D
dc.contributor.author Scaramuzza, D
dc.contributor.author Siegwart, R
dc.date.accessioned 2010-07-15T13:16:52Z
dc.date.available 2010-07-15T13:16:52Z
dc.date.issued 2010-05
dc.identifier.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 en
dc.identifier.isbn 978-1-4244-5040-4
dc.identifier.uri http://hdl.handle.net/10204/4094
dc.description 2010 IEEE International Conference on Robotics and Automation. 3-8 May 2010, Anchorange, Alaska, USA. en
dc.description.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 en
dc.language.iso en en
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en
dc.subject Vocabulary tree en
dc.subject Appearance-based mapping en
dc.subject Topological map building en
dc.subject Robotics en
dc.title Improved appearance-based matching in similar and dynamic environments using a vocabulary tree en
dc.type Presentation en


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