Visual Topological Mapping Using an Appearance-Based Location Selection Method

Mohammad Asif Khan*, Frédéric Labrosse

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

122 Wedi eu Llwytho i Lawr (Pure)


Visual representation of an environment in topological maps is a challenging task since different factors such as variable lighting conditions, viewpoints, mobility of robots, dynamic and featureless appearance, etc., can affect the representation. This paper presents a novel method for appearance-based visual topological mapping using low resolution omni-directional images. The proposed method employs a pixel-by-pixel comparison strategy. Successive images captured as a mobile robot traverses its environment are compared to estimate their dissimilarity from a reference image. Specific locations (nodes in the topological map) are then selected using a variable sampling rate based on changes in the appearance of the environment. Loop-closures are created using a dynamic threshold based on variability of the environment appearance. The method therefore proposes a full SLAM solution to create topological maps. The method was tested on multiple datasets, which were captured under different weather conditions along various trajectories. GPS coordinates were used to stamp each image as ground truth for evaluation and visualisation only. We also compared our method with state of the art feature-based methods.

Iaith wreiddiolSaesneg
TeitlTowards Autonomous Robotic Systems - 21st Annual Conference, TAROS 2020, Proceedings
GolygyddionAbdelkhalick Mohammad, Xin Dong, Matteo Russo
CyhoeddwrSpringer Nature
Nifer y tudalennau13
ISBN (Electronig)9783030634865
ISBN (Argraffiad)9783030634858
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsE-gyhoeddi cyn argraffu - 03 Rhag 2020
Digwyddiad21th Annual Conference on Towards Autonomous Robotics, TAROS 20120 - Nottingham, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 16 Medi 202016 Medi 2020

Cyfres gyhoeddiadau

EnwLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol12228 LNAI
ISSN (Argraffiad)0302-9743
ISSN (Electronig)1611-3349


Cynhadledd21th Annual Conference on Towards Autonomous Robotics, TAROS 20120
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Cyfnod16 Medi 202016 Medi 2020

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