ML Anthology

Constructing Topological Maps Using Markov Random Fields and Loop-Closure Detection

Roy Anati, Kostas Daniilidis
NeurIPS 2009 pp. 37-45
/neurips/2009/anati2009neurips-constructing/

Abstract

We present a system which constructs a topological map of an environment given a sequence of images. This system includes a novel image similarity score which uses dynamic programming to match images using both the appearance and relative positions of local features simultaneously. Additionally an MRF is constructed to model the probability of loop-closures. A locally optimal labeling is found using Loopy-BP. Finally we outline a method to generate a topological map from loop closure data. Results are presented on four urban sequences and one indoor sequence.

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Cite

Text

Anati and Daniilidis. "Constructing Topological Maps Using Markov Random Fields and Loop-Closure Detection." Neural Information Processing Systems, 2009.

Markdown

[Anati and Daniilidis. "Constructing Topological Maps Using Markov Random Fields and Loop-Closure Detection." Neural Information Processing Systems, 2009.](https://mlanthology.org/neurips/2009/anati2009neurips-constructing/)

BibTeX

@inproceedings{anati2009neurips-constructing,
  title     = {{Constructing Topological Maps Using Markov Random Fields and Loop-Closure Detection}},
  author    = {Anati, Roy and Daniilidis, Kostas},
  booktitle = {Neural Information Processing Systems},
  year      = {2009},
  pages     = {37-45},
  url       = {https://mlanthology.org/neurips/2009/anati2009neurips-constructing/}
}