Christoffer Valgren, Achim J. Lilienthal and Tom Duckett
Incremental Topological Mapping Using Omnidirectional Vision
Proc. IEEE Int. Conf. On Intelligent Robots and Systems (IROS), 2006, pp. 3441-3447
Abstract: This paper presents an algorithm that builds topological maps, using omnidirectional vision as the only sensor modality. Local features are extracted from images obtained in sequence, and are used both to cluster the images into nodes and to detect links between the nodes. The algorithm is incremental, reducing the computational requirements of the corresponding batch algorithm. Experimental results in a complex, indoor environment show that the algorithm produces topologically correct maps, closing loops without suffering from perceptual aliasing or false links. Robustness to lighting variations was further demonstrated by building correct maps from combined multiple datasets collected over a period of two months.
Paper: [PDF (1.5MB)]
Presentation: [PDF (2.0MB)]
  author = {C. Valgren and A. J. Lilienthal and T. Duckett},
  title = {Incremental Topological Mapping Using Omnidirectional Vision},
  booktitle = {Proc. IEEE Int. Conf. On Intelligent Robots and Systems},
  year = {2006},
  pages = {3441--3447}