Unsupervised and online place recognition for mobile robot based on local features description
Place recognition approaches have been used for solving topological mapping and localization problems. These approaches are usually performed in supervised and offline mode. In this paper, a robust appearance-based unsupervised and online place recognition algorithm, which is inspired from online se...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Engineering and Technology Publishing
2013
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| Online Access: | http://psasir.upm.edu.my/id/eprint/28860/ http://psasir.upm.edu.my/id/eprint/28860/1/Unsupervised%20and%20online%20place%20recognition%20for%20mobile%20robot%20based%20on%20local%20features%20description.pdf |
| _version_ | 1848846233531056128 |
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| author | Tang, Sai Hong Hamami, Ghazali Karasfi, Babak Nakhaeinia, Danial |
| author_facet | Tang, Sai Hong Hamami, Ghazali Karasfi, Babak Nakhaeinia, Danial |
| author_sort | Tang, Sai Hong |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | Place recognition approaches have been used for solving topological mapping and localization problems. These approaches are usually performed in supervised and offline mode. In this paper, a robust appearance-based unsupervised and online place recognition algorithm, which is inspired from online sequential clustering methods, is introduced. This method combines several image features using Speedup Robust Features (SURF) by accumulating them into a union form of features inside each place cluster. In this method, the mobile robot captures omnidirectional visual information and converts them into topological place clusters. Experimental results show the robustness, accuracy, and efficiency of the method as well as its ability to create topological place clusters for solving mapping and qualitative localization problems. The performance of the developed system is remarkable in term of recognition precision performance. |
| first_indexed | 2025-11-15T08:59:27Z |
| format | Article |
| id | upm-28860 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T08:59:27Z |
| publishDate | 2013 |
| publisher | Engineering and Technology Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-288602015-12-29T02:52:32Z http://psasir.upm.edu.my/id/eprint/28860/ Unsupervised and online place recognition for mobile robot based on local features description Tang, Sai Hong Hamami, Ghazali Karasfi, Babak Nakhaeinia, Danial Place recognition approaches have been used for solving topological mapping and localization problems. These approaches are usually performed in supervised and offline mode. In this paper, a robust appearance-based unsupervised and online place recognition algorithm, which is inspired from online sequential clustering methods, is introduced. This method combines several image features using Speedup Robust Features (SURF) by accumulating them into a union form of features inside each place cluster. In this method, the mobile robot captures omnidirectional visual information and converts them into topological place clusters. Experimental results show the robustness, accuracy, and efficiency of the method as well as its ability to create topological place clusters for solving mapping and qualitative localization problems. The performance of the developed system is remarkable in term of recognition precision performance. Engineering and Technology Publishing 2013-03 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/28860/1/Unsupervised%20and%20online%20place%20recognition%20for%20mobile%20robot%20based%20on%20local%20features%20description.pdf Tang, Sai Hong and Hamami, Ghazali and Karasfi, Babak and Nakhaeinia, Danial (2013) Unsupervised and online place recognition for mobile robot based on local features description. Journal of Automation and Control Engineering, 1 (1). pp. 60-64. ISSN 2301-3702 http://www.joace.org/index.php?m=content&c=index&a=show&catid=27&id=45 |
| spellingShingle | Tang, Sai Hong Hamami, Ghazali Karasfi, Babak Nakhaeinia, Danial Unsupervised and online place recognition for mobile robot based on local features description |
| title | Unsupervised and online place recognition for mobile robot based on local features description |
| title_full | Unsupervised and online place recognition for mobile robot based on local features description |
| title_fullStr | Unsupervised and online place recognition for mobile robot based on local features description |
| title_full_unstemmed | Unsupervised and online place recognition for mobile robot based on local features description |
| title_short | Unsupervised and online place recognition for mobile robot based on local features description |
| title_sort | unsupervised and online place recognition for mobile robot based on local features description |
| url | http://psasir.upm.edu.my/id/eprint/28860/ http://psasir.upm.edu.my/id/eprint/28860/ http://psasir.upm.edu.my/id/eprint/28860/1/Unsupervised%20and%20online%20place%20recognition%20for%20mobile%20robot%20based%20on%20local%20features%20description.pdf |