Using Scene Similarity for Place Labelling
نویسندگان
چکیده
This paper is about labelling regions of a mobile robot’s workspace using scene appearance similarity. We do this by operating on a single matrix which expresses the pairwise similarity between all captured scenes. We describe and motivate a sequence of algorithms which, in conjunction with spatial constraints provided by the continuous motion of the vehicle, produce meaningful workspace segmentations. We provide detailed experimental results from various outdoor trials.
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