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A. Chapoulie, P. Rives, D. Filliat. Topological segmentation of indoors/outdoors sequences of spherical views. In IEEE Conference on Intelligent Robots and Systems, IROS'12, Pages 4288-4295, Vilamoura, Algarve, Portugal, October 2012.

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Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmen- tation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and out- door environment segmentation without elaborating a complete topological navigation system. The approach is novel in that environment sensing is performed using spherical images. Envi- ronment structure estimation is performed by a global structure descriptor specially adapted to the spherical representation. This descriptor is processed by a custom designed algorithm which detects change-points defining the segmentation between topological places


Patrick Rives

BibTex Reference

   Author = {Chapoulie, A. and Rives, P. and Filliat, D.},
   Title = {Topological segmentation of indoors/outdoors sequences of spherical views},
   BookTitle = {IEEE Conference on Intelligent Robots and Systems, IROS'12},
   Pages = {4288--4295},
   Address = {Vilamoura, Algarve, Portugal},
   Month = {October},
   Year = {2012}

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