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dc.contributor.authorRanganathan, Ananth
dc.contributor.authorDellaert, Frank
dc.date.accessioned2008-11-24T14:59:06Z
dc.date.available2008-11-24T14:59:06Z
dc.date.issued2008
dc.identifier.urihttp://hdl.handle.net/1853/25823
dc.description.abstractTopological maps are graphical representations of the environment consisting of nodes that denote landmarks, and edges that represent the connectivity between the landmarks. Automatic detection of landmarks, usually special places in the environment such as gateways, in a general, sensor-independent manner has proven to be a difficult task. We present a landmark detection scheme based on the notion of “surprise” that addresses these issues. The surprise associated with a measurement is defined as the change in the current model upon updating it using the measurement. We demonstrate that surprise is large when sudden changes in the environment occur, and hence, is a good indicator of landmarks. We evaluate our landmark detector using appearance and laser measurements both qualitatively and quantitatively. Part of this evaluation is performed in the context of a topological mapping algorithm, thus demonstrating the practical applicability of the detector.en
dc.language.isoen_USen
dc.publisherGeorgia Institute of Technologyen
dc.relation.ispartofseriesSIC Technical Reports ; GT-IC-08-04en
dc.subjectLandmark detectionen
dc.subjectLaser range scansen
dc.subjectMeasurementsen
dc.subjectRoboticsen
dc.subjectSensorsen
dc.subjectTopological mappingen
dc.titleAutomatic Landmark Detection for Topological Mapping Using Bayesian Surpriseen
dc.typeTechnical Reporten
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computing
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computing


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