Abstract-Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmentation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and outdoor environment segmentation without elaborating a complete topological navigation system. The approach is novel in that environment sensing is performed using spherical images. Environment 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.
Chapoulie et al. REF use a customised algorithm that detects change point for segmentation between different topological places in both indoor and outdoor scenes.
Topological segmentation of indoors/outdoors sequences of spherical views
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science