Topological segmentation of indoors/outdoors sequences of spherical views
Résumé
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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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