模式识别与人工智能
Thursday, Apr. 3, 2025 Home      About Journal      Editorial Board      Instructions      Ethics Statement      Contact Us                   中文
  2013, Vol. 26 Issue (6): 571-576    DOI:
Orignal Article Current Issue| Next Issue| Archive| Adv Search |
Natural Landmark Detection of Mobile Robots Based on Bayesian Surprise of Salient Scenes
QIAN Kun,MA Xu-Dong,DAI Xian-Zhong,FANG Fang,YANG Hong
Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education,School of Automation,Southeast University,Nanjing 210096

Download: PDF (916 KB)   HTML (0 KB) 
Export: BibTeX | EndNote (RIS)      
Abstract  Nature landmark detection of mobile robot in unknown and unstructured environment is a basis of hierarchical environmental mapping. A natural landmark detection method is proposed based on Bayesian Surprise of salient scenes. Visual attention map of scene images is computed to guide the SURF feature sampling within the scope of salient regions. The improved spatial bag-of-words model (sBoW) is employed to construct the pattern vectors of scene appearance. Multivariate Polya model based on the spatial bag-of-words paradigm is proposed for representing the place,and the detection of landmarks corresponding to salient scenes is achieved by computing the surprise of sensor measurements. The experimental results validate the low miss alarm rate and false alarm rate of the nature landmark detection method in large-scale and complex environment,as well as the effectiveness of generating topological nodes with the combination of hierarchical SLAM method.
Key wordsVisual Attention      Spatial Bag-of-Words      Bayesian Surprise      Mobile Robot      Landmark Detection     
Received: 13 August 2012     
ZTFLH: TP24  
Service
E-mail this article
Add to my bookshelf
Add to citation manager
E-mail Alert
RSS
Articles by authors
QIAN Kun
MA Xu-Dong
DAI Xian-Zhong
FANG Fang
YANG Hong
Cite this article:   
QIAN Kun,MA Xu-Dong,DAI Xian-Zhong等. Natural Landmark Detection of Mobile Robots Based on Bayesian Surprise of Salient Scenes[J]. , 2013, 26(6): 571-576.
URL:  
http://manu46.magtech.com.cn/Jweb_prai/EN/      OR     http://manu46.magtech.com.cn/Jweb_prai/EN/Y2013/V26/I6/571
Copyright © 2010 Editorial Office of Pattern Recognition and Artificial Intelligence
Address: No.350 Shushanhu Road, Hefei, Anhui Province, P.R. China Tel: 0551-65591176 Fax:0551-65591176 Email: bjb@iim.ac.cn
Supported by Beijing Magtech  Email:support@magtech.com.cn