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Conference papers
Fast Hybrid Relocation in Large Scale Metric-Topologic-Semantic Map
Abstract : Navigation in large scale environments is challeng- ing because it requires accurate local map and global relocation ability. We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation. It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic information is used to build concise local graph-based descriptions of sub-maps. We propose a robust and efficient algorithm that relies on MTS-map structure and semantic description of sub-maps to relocate very fast. We combine the discriminative power of semantics with the robustness of an interpretation tree to compare the graphs very fast and outperform state-of-the-art-techniques. The proposed approach is tested on a challenging dataset composed of more than 13000 real world images where we demonstrate the ability to relocate within 0.12ms.
Cited literature [25 references]
https://hal.inria.fr/hal-01010231
Contributor : Eric Marchand <>
Submitted on : Thursday, June 19, 2014 - 2:01:49 PM
Last modification on : Wednesday, June 16, 2021 - 3:41:55 AM
Long-term archiving on: : Friday, September 19, 2014 - 11:06:42 AM
Contributor : Eric Marchand <>
Submitted on : Thursday, June 19, 2014 - 2:01:49 PM
Last modification on : Wednesday, June 16, 2021 - 3:41:55 AM
Long-term archiving on: : Friday, September 19, 2014 - 11:06:42 AM
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