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Map matching, the ability to match a local map built by a mobile robot to previously built maps, is crucial in robot vision applications. In this paper, we propose a novel map descriptor, to facilitate fast succinct text-based map matching. Unlike previous bag-of-words approaches that trade discriminativity for viewpoint invariance, we develop a holistic(More)
Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they(More)
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