Place recognition using near and far visual information
Name
Leonard_Place recognition.pdf
Size
1.9 MB
Format
Adobe PDF
Checksum (MD5)
27022ed217991718bcd5a973ad312d01
Author(s)
Cadena, Cesar
McDonald, John
Leonard, John Joseph
Neira, Jose
Dario, Cesar
Date Issued
May 15, 2013
Journal
Proceedings of the 18th IFAC World Congress, 2011
Publisher
International Federation of Automatic Control
Citation
Lerma, Cadena et al. “Place Recognition Using Near and Far Visual Information.” Proceedings of the 18th IFAC World Congress, 2011 (2011). 6822–6828.
Version
Author's final manuscript
Abstract
In this paper we show how to carry out robust place recognition using both near and far information provided by a stereo camera. Visual appearance is known to be very useful in place recognition tasks. In recent years, it has been shown that taking geometric information also into account further improves system robustness. Stereo visual systems provide 3D information and texture of nearby regions, as well as an image of far regions. In order to make use of all this information, our system builds two probabilistic undirected graphs, each considering either near or far information. Inference is carried out in the framework of conditional random fields. We evaluate our algorithm in public indoor and outdoor datasets from the Rawseeds project and in an outdoor dataset obtained at the MIT campus. Results show that this combination of information is very useful to solve challenging cases of perceptual aliasing.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.3182/20110828-6-IT-1002.03029
