Paper Info
Title
Topological maps based on graphs of planar regions
Abstract
Topological visual maps contain different abstraction levels of information that can be used by robots to carry out different activities. We propose here a new hierarchical structure in which landmarks extracted from conventional images are grouped creating a graph of planar regions. The new hierarchy improves previous approaches based on images reducing both, the size of the graph and its complexity. In order to segment and group the planar regions of a sequence of images a new approach based on the simultaneous matching of two images and the previously extracted planar regions is proposed. We also consider multi-plane restrictions so that the method is robust to the appearance of new planes. The paper presents two contributions. First the triple matching approach to extract all the planes seen in the set of images and second a new topological map construction based on a graph of planar regions which can be used by mobile robots to localize and move in the environment. Experiments with real images in both indoor and outdoor environments show good performance of our proposal.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354184
IROS
Keywords
Field
DocType
topological map,planar region,different activity,new topological map construction,new hierarchy,different abstraction level,new plane,new hierarchical structure,new approach,simultaneous matching,previous approach,mobile robots,image segmentation,robustness,homography,mobile robot,feature extraction,data mining
Computer vision,Topology,Computer science,Planar straight-line graph,Robustness (computer science),Image segmentation,Feature extraction,Homography,Artificial intelligence,Topological map,Real image,Mobile robot
Conference
Citations 
PageRank 
References 
1
0.35
13
Authors
2
Name
Order
Citations
PageRank
Eduardo Montijano121422.27
C. Sagüés2443.47