ICRA'09 Paper Abstract


Paper FrB3.1

Ranganathan, Ananth (Honda Research Institute, USA), Dellaert, Frank (Georgia Institute of Technology)

Bayesian Surprise and Landmark Detection

Scheduled for presentation during the Regular Sessions "Mapping - II" (FrB3), Friday, May 15, 2009, 10:30−10:50, Room: 401

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Mapping, Visual Learning, Computer Vision for Robotics and Automation


Automatic detection of landmarks, usually special places in the environment such as gateways, for topological mapping has proven to be a difficult task. We present the use of Bayesian surprise, introduced in computer vision, for landmark detection. Further, we provide a novel hierarchical, graphical model for the appearance of a place and use this model to perform surprise-based landmark detection. Our scheme is agnostic to the sensor type, and we demonstrate this by implementing a simple laser model for computing surprise. We evaluate our landmark detector using appearance and laser measurements in the context of a topological mapping algorithm, thus demonstrating its practical applicability of the detector.



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