Carnegie Mellon University
Appearance-Based Place Recognition for Topological Localization

Iwan Ulrich and Illah Nourbakhsh
Proceedings of ICRA 2000, April, 2000, pp. 1023 - 1029.

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This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme. The system has been evaluated with eight cross-sequence tests in four unmodified environments, three indoors and one outdoors. In all eight cases, the system successfully tracked the mobile robot's position. The system correctly classified between 87% and 98% of the input color images. For the remaining images, the system was either momentarily confused or uncertain, but never classified an image incorrectly.

Associated Lab(s) / Group(s): CREATE: Community Robotics, Education and Technology Empowerment
Associated Project(s): Bookstore Project

Text Reference
Iwan Ulrich and Illah Nourbakhsh , "Appearance-Based Place Recognition for Topological Localization," Proceedings of ICRA 2000, April, 2000, pp. 1023 - 1029.

BibTeX Reference
   author = "Iwan Ulrich and Illah {Nourbakhsh }",
   title = "Appearance-Based Place Recognition for Topological Localization",
   booktitle = "Proceedings of ICRA 2000",
   pages = "1023 - 1029",
   month = "April",
   year = "2000",
   volume = "2",