Place recognition based on saliency for topological localization

来源 :中南工业大学学报(英文版) | 被引量 : 0次 | 上传用户:syhappy
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
Based on salient visual regions for mobile robot navigation in unknown environments, a new place recognition system was presented. The system uses monocular camera to acquire omni-directional images of the environment where the robot locates. Salient local regions are detected from these images using center-surround difference method, which computes opponencies of color and texture among multi-scale image spaces. And then they are organized using hidden Markov model (HMM) to form the vertex of topological map. So localization, that is place recognition in our system, can be converted to evaluation of HMM. Experimental results show that the saliency detection is immune to the changes of scale, 2D rotation and viewpoint etc. The created topological map has smaller size and a higher ratio of recognition is obtained.
其他文献
The hydration characteristics and expansion impetus of three kinds of cement paste under freeand confined-curing conditions were investigated, which were respec
Rainbow piezoelectric ceramics are a new type of stress-biased, oxide-reduced composite ferroelectric ceramics, which have a special dome structure. The have sh
The cavitation erosion (CE) behavior of CrMnN ferrite-austenite duplex stainless steel in distilled water and 3% NaCl solution was investigated by using a magne
The intensity and position of sidebands (satellites) on both sides of main diffraction peak in a great number of X-ray diffraction profiles of alloys always cha
Metal matrix composites (MMCs) offer extra strength and high temperature capabilities in comparison with unrein-forced metals. Aluminum composites possess high
探讨改性粉煤灰对城市生活污水中CODCr去除率影响.试验结果表明,投灰量是影响改性粉煤灰去除CODCr的重要因素.
Rapidly solidified Al87Ni7Cu3Nd3 metallic glasses were prepared by using melt spinning. Its calorimetric behavior was characterized by using differential scanni
随着社会进步和科学技术事业的发展,地质工程学科逐步扩大了应用领域,除了在地质找矿中继续发挥着重要作用外,还延伸到工程建设各个领域。本文作者通过多年工作经验,就工程学科现
我国要加大抗旱扶持工作,帮助农民摆脱干旱的困扰,使农民种植的农作物很好的生长,促使粮食增产增收,农民的经济水平才能够提高,我国综合经济实力才能有很大的进步。
经济的快速发展提升了人们的生活水平。城市的建设需要园林绿化,尤其是园林设计,绿色植被为城市建设带来了新的发展生机。本文从绿色植物配置的角度出发,对当前园林植物配置存在