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
3 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal.inria.fr/hal-00752909
Contributor : Eric Marchand <>
Submitted on : Friday, November 16, 2012 - 4:04:15 PM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Long-term archiving on : Saturday, December 17, 2016 - 11:10:17 AM

File

2012_iros_chapoulie.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00752909, version 1

Citation

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⟩

Share

Metrics

Record views

1094

Files downloads

357