%0 Conference Proceedings
%F Chapoulie12a
%A Chapoulie, A.
%A Rives, P.
%A Filliat, D.
%T Topological segmentation of indoors/outdoors sequences of spherical views
%B IEEE Conference on Intelligent Robots and Systems, IROS'12
%P 4288-4295
%C Vilamoura, Algarve, Portugal
%X 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
%U http://www.irisa.fr/lagadic/pdf/2012_iros_chapoulie.pdf
%8 October
%D 2012