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Booij06Rooms
From images to rooms
Olaf Booij, Zoran Zivkovic and Ben Kröse
In Proceedings of the Workshop From sensors to human spatial concepts
during the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS),
2006.
Abstract:
In this paper we start from a set
of images obtained by the robot while it is moving around an environment.
We present a method to automatically group the images into
groups that correspond to convex subspaces in the environment
which are related to the human concept of rooms. Pairwise
similarities between the images are computed using local
features extracted from the images and geometric constraints.
The images with the proposed similarity measure can be seen as a
graph or in a way a base level dense topological map.
From this low level representation the images are groped using a
graph-clustering technique which effectively finds convex spaces in
the environment. The method is tested and evaluated on challenging
data sets acquired in real home environments. The resulting higher
level maps are compared with the maps humans made based on the same
data.
Download:
Final version: gzipped
postscript (662 Kb), pdf
(315 Kb).
bibtex entry.
See also:
link to project page
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