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Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM (simultaneous localisation and mapping) which does not require motion or odometry information but only a sequence of noisy measurements from visited places. We propose a particle filtering technique for topological SLAM which(More)
A graph is triangulated if it has no chordless cycle with at least four vertices (8k 4; C k 6 6 G). These graphs have been generalized by R. Hayward with the weakly triangulated graphs (8k 5; C k ; C k 6 6 G). In this note we propose a new generalization of triangulated graphs. A graph G is slightly triangulated if it satisses the two following conditions :(More)
The tracking of features in real-time video streams forms the integral part of many important applications in human-computer interaction and computer vision. Unfortunately tracking is a computationally intensive task, since the video information used by the tracker is usually prepared by applying a series of image processing filters. Thus it is difficult to(More)
Kernel methods such as kernel principal component analysis and support vector machines have become powerful tools for pattern recognition and computer vision. Unfortunately the high computational cost of kernel methods is a limiting factor for real-time classification tasks when running on the CPU of a standard PC. Over the last few years, commodity(More)
Hex is a classic board game invented in the middle of the twentieth century by Piet Hein and rediscovered later by John Nash. The best Hex artificial players analyse the board positions by deducing complex virtual connections from elementary connections using the H-Search algorithm. In this paper, we extend the H-search with a new deduction rule. This new(More)