A Discriminative Approach to Robust Visual Place Recognition

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Date
2006-10Author
Pronobis, A.
Caputo, B.
Jensfelt, Patric
Christensen, Henrik I.
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Show full item recordAbstract
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.