TY - JOUR
T1 - Visual memory maps for mobile robots
AU - Salas, Joaquín
N1 - Funding Information:
"This work was partially supported with grants from CONA-CYT under contract number 27725A, from SIGH0 under contract number 19990205005 and from CEGEPI-IPN under contract number 990082. ?The author wants to thank to Prof. Carlo Tomasi whose guidance lead eventually to this work
PY - 2000
Y1 - 2000
N2 - In this paper, we introduce the concept of Visual Memory Maps (VMM). A VMM is an ordered accumulation of visual information, classified to avoid redundancy and to provide fast retrieval through the comparison of newly acquired images with stored memories. We use VMM to give some low level visual capabilities to mobile robots. To do this, a mobile robot is guided through a path while it takes snapshots. The image stream is then converted into a VMM. Two problems that surge are both the representation of the image stream and the comparison of new frames with the VMM. In this research, we use Principal Component Analysis to have a compact representation and to index the image stream, and introduce a registration scheme to search for correspondence directly in the space of the principal components.
AB - In this paper, we introduce the concept of Visual Memory Maps (VMM). A VMM is an ordered accumulation of visual information, classified to avoid redundancy and to provide fast retrieval through the comparison of newly acquired images with stored memories. We use VMM to give some low level visual capabilities to mobile robots. To do this, a mobile robot is guided through a path while it takes snapshots. The image stream is then converted into a VMM. Two problems that surge are both the representation of the image stream and the comparison of new frames with the VMM. In this research, we use Principal Component Analysis to have a compact representation and to index the image stream, and introduce a registration scheme to search for correspondence directly in the space of the principal components.
UR - http://www.scopus.com/inward/record.url?scp=4344579674&partnerID=8YFLogxK
M3 - Artículo
AN - SCOPUS:4344579674
SN - 1051-4651
VL - 15
SP - 681
EP - 684
JO - Proceedings - International Conference on Pattern Recognition
JF - Proceedings - International Conference on Pattern Recognition
IS - 4
ER -