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, ENSTA ParisTech 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.
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Conference papers
IEEE Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Spain. pp.4288-4295, 2012


https://hal.inria.fr/hal-00752909
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Submitted on : Friday, November 16, 2012 - 4:04:15 PM
Last modification on : Wednesday, July 1, 2015 - 1:05:48 AM

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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, 2012. <hal-00752909>

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