Title:
Bayesian Surprise and Landmark Detection
Bayesian Surprise and Landmark Detection
Authors
Ranganathan, Ananth
Dellaert, Frank
Dellaert, Frank
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Abstract
Automatic detection of landmarks, usually special
places in the environment such as gateways, for topological
mapping has proven to be a difficult task. We present the use of
Bayesian surprise, introduced in computer vision, for landmark
detection. Further, we provide a novel hierarchical, graphical
model for the appearance of a place and use this model to perform
surprise-based landmark detection. Our scheme is agnostic to the
sensor type, and we demonstrate this by implementing a simple
laser model for computing surprise. We evaluate our landmark
detector using appearance and laser measurements in the context
of a topological mapping algorithm, thus demonstrating the
practical applicability of the detector.
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2009-05
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