From images to rooms

@article{Zivkovic2007FromIT,
  title={From images to rooms},
  author={Zoran Zivkovic and Olaf Booij and Ben J. A. Kr{\"o}se},
  journal={Robotics and Autonomous Systems},
  year={2007},
  volume={55},
  pages={411-418}
}
In this paper we start from a set of images obtained by the robot that is moving around in an environment. We present a method to automatically group the images into groups that correspond to convex subspaces in the environment which are related to the human concept of rooms. Pairwise similarities between the images are computed using local features extracted from the images and geometric constraints. The images with the proposed similarity measure can be seen as a graph or in a way as a base… CONTINUE READING

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