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Abstract: In this paper we present an appearance-based method to be used for topologically localising the robot. The information extracted from the image sequences is just an approximation of the colour probability density function estimated using a non-parametric clustering paradigm, the Self-organising Map neural network, together with the information obtained from the segmentation of a single image, i.e the pixel ratio in each cluster. The compactness of the stored information for each view allows to... (Update)
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BibTeX entry: (Update)
@misc{ depto-application,
author = "Naki Ra Depto",
title = "On The Application Of Colour Histograms For Mobile Robot Localisation",
url = "citeseer.ist.psu.edu/763295.html" }
Citations (may not include all citations):976 Machine learning (context) - Mitchell - 1997
399 Self-organized formation of topologically correct feature ma.. (context) - Kohonen - 1982
85 A review on image segmentation techniques (context) - Pal, Pal - 1993
74 Specialization of Perceptual Processes - Horswill - 1994
56 Distinctive image features from scale invariant keypoints - Lowe - 2004
36 The earth mover's distance as a metric for image retrieval (context) - Rubner, Timassi et al. - 2000
18 Vision for mobile robot navigation: A survey (context) - DeSouza, Kak - 2002
18 Appearance based processes for visual navigation - Jones, Andresen et al. - 1997
17 Visionbased navigation and environmental representation with.. - Gaspar, Winters et al. - 2000
16 Visual navigation using view-sequenced route representation (context) - Matsumoto, Inaba et al. - 1996
7 Navigation of a mobile robot on the temporal development of .. - Dev, Krose et al. - 1997
3 Image-based localisation montecarlo localisation with omnidi.. (context) - Menegatti, Zoccarato et al. - 2004
2 Qualitative image based localization in indoors environments (context) - Kosecka, Zhou et al. - 2003
1 Postrob: a behaviour-based post deliverer (context) - Martnez-Otzeta, Sierra et al. - 2004
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