Automatic Landmark Detection for Topological Mapping Using Bayesian Surprise

dc.contributor.author Ranganathan, Ananth
dc.contributor.author Dellaert, Frank
dc.contributor.corporatename Georgia Institute of Technology. College of Computing
dc.contributor.corporatename Georgia Institute of Technology. School of Interactive Computing
dc.date.accessioned 2008-11-24T14:59:06Z
dc.date.available 2008-11-24T14:59:06Z
dc.date.issued 2008
dc.description.abstract Topological maps are graphical representations of the environment consisting of nodes that denote landmarks, and edges that represent the connectivity between the landmarks. Automatic detection of landmarks, usually special places in the environment such as gateways, in a general, sensor-independent manner has proven to be a difficult task. We present a landmark detection scheme based on the notion of “surprise” that addresses these issues. The surprise associated with a measurement is defined as the change in the current model upon updating it using the measurement. We demonstrate that surprise is large when sudden changes in the environment occur, and hence, is a good indicator of landmarks. We evaluate our landmark detector using appearance and laser measurements both qualitatively and quantitatively. Part of this evaluation is performed in the context of a topological mapping algorithm, thus demonstrating the practical applicability of the detector. en
dc.identifier.uri http://hdl.handle.net/1853/25823
dc.language.iso en_US en
dc.publisher Georgia Institute of Technology en
dc.relation.ispartofseries SIC Technical Reports ; GT-IC-08-04 en
dc.subject Landmark detection en
dc.subject Laser range scans en
dc.subject Measurements en
dc.subject Robotics en
dc.subject Sensors en
dc.subject Topological mapping en
dc.title Automatic Landmark Detection for Topological Mapping Using Bayesian Surprise en
dc.type Text
dc.type.genre Technical Report
dspace.entity.type Publication
local.contributor.author Dellaert, Frank
local.contributor.corporatename College of Computing
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename School of Interactive Computing
local.relation.ispartofseries College of Computing Technical Report Series
local.relation.ispartofseries School of Interactive Computing Technical Report Series
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