Robust place recognition using local appearance based methods

Author

Dudek, Gregory ; Jugessur, Deeptiman

Author_Institution

Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada

Volume

2

fYear

2000

fDate

2000

Firstpage

1030

Abstract

We present an approach to the automatic recognition of locations or landmarks using single camera images. Our approach is to learn visual features in the appearance domain that can be used to characterize an object or a location. These features are defined statistically and then are recognized using principal components in the frequency domain. We show that this technique can be used to recognize specific objects on varying backgrounds, as well as environmental features

Keywords

frequency-domain analysis; image recognition; principal component analysis; robot vision; PCA; frequency domain; landmark recognition; local appearance based methods; location characterization; location recognition; object characterization; principal component analysis; robust place recognition; single camera images; Frequency domain analysis; Image recognition; Layout; Mobile robots; Robot sensing systems; Robot vision systems; Robustness; Sensor phenomena and characterization; Smart cameras; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844735

Filename

844735