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Topological segmentation of indoors/outdoors sequences of spherical views

Alexandre Chapoulie 1 Patrick Rives 1 David Filliat 2, 3 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmen- tation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and out- door environment segmentation without elaborating a complete topological navigation system. The approach is novel in that environment sensing is performed using spherical images. Envi- ronment structure estimation is performed by a global structure descriptor specially adapted to the spherical representation. This descriptor is processed by a custom designed algorithm which detects change-points defining the segmentation between topological places.
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Submitted on : Friday, November 16, 2012 - 4:04:15 PM
Last modification on : Wednesday, May 11, 2022 - 12:06:05 PM
Long-term archiving on: : Saturday, December 17, 2016 - 11:10:17 AM


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  • HAL Id : hal-00752909, version 1


Alexandre Chapoulie, Patrick Rives, David Filliat. Topological segmentation of indoors/outdoors sequences of spherical views. IEEE Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Spain. pp.4288-4295. ⟨hal-00752909⟩



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