Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition With Mobile Robots.
Alberto JaenalFrancisco Angel MorenoJavier González JiménezPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- mobile robot
- indoor environments
- spatial layout
- map building
- topological map
- outdoor environments
- path planning
- visual information
- loop closing
- high level
- high level abstractions
- visual properties
- visual appearance
- dynamic environments
- low level
- obstacle avoidance
- supervised learning
- unsupervised learning
- appearance model
- semi supervised
- mobile robotics
- visual perception
- autonomous navigation
- robot control
- visual objects
- autonomous robots
- maximum a posteriori
- collision avoidance
- robot localization
- spatial configurations
- appearance cues
- computer vision