Describing Composite Urban Workspaces

@article{Posner2007DescribingCU,
  title={Describing Composite Urban Workspaces},
  author={Ingmar Posner and Derik Schr{\"o}ter and Paul Newman},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={4962-4968}
}
In this paper we present an appearance-based method for augmenting maps of outdoor urban environments with higher-order, semantic labels. Our motivation is to increase the value and utility of the typically low-level representations built by contemporary SLAM algorithms. A supervised learning scheme is employed to train a set of classifiers to respond to common scene attributes given a mixture of geometric and visual scene information. The union of classifier responses yields a composite… CONTINUE READING
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