Name
Abstract | ||
|---|---|---|
We describe a hybrid visuo-spatial topological approach in which global visual localization is triggered at junctions detected in a novel egocentric spatial approximation of the Generalized Voronoi Diagram. Transited vertices of this GVD are shown empirically to be useful and robust topological features. Visual vertex discrimination is performed without spatial cues, ameliorating junction ambiguity. Several large-scale trials are reported demonstrating fully autonomous exploration and mapping in mixed indoor/outdoor environments. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.282004 | 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 |
Keywords | DocType | Citations |
topological, mapping, Voronoi, vision, hybrid | Conference | 1 |
PageRank | References | Authors |
0.35 | 16 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| David Rawlinson | 1 | 5 | 0.86 |
| Ray Jarvis | 2 | 56 | 10.32 |