A Discriminative Approach to Robust Visual Place Recognition A. Pronobis, B. Caputo, P. Jensfelt, and H. I. Christensen In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS06), Beijing, China, October 2006. Back Abstract Top An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geometric model. Through use of vision and place recognition a number of opportunities open up in terms of flexibility and association of semantics to the model. To achieve this the present paper presents an appearance based method for place recognition. The method is based on a large margin classifier in combination with a rich global image descriptor. The method is robust to variations in illumination and minor scene changes. The method is evaluated across several different cameras, changes in time-of-day and weather conditions. The results clearly demonstrate the value of the approach. Download Top • Paper: [PDF (1.46 MB)] • Presentation: [PDF (1.79 MB)] • Video: [MOV (15.85 MB)] Video Top Bibtex Top @INPROCEEDINGS{pronobis06iros, author = {Pronobis, A. and Caputo, B. and Jensfelt, P. and Christensen, H. I.}, title = {A Discriminative Approach to Robust Visual Place Recognition}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS06)}, year = {2006}, address = {Beijing, China}, month = {October}, url = {http://www.csc.kth.se/~pronobis/research/pronobis06iros/pronobis06iros.pdf} } Created by: Andrzej Pronobis Last modified: 20-09-2009 00:26