Using Scene Similarity for Place Labelling

  title={Using Scene Similarity for Place Labelling},
  author={Ingmar Posner and Derik Schr{\"o}ter and Paul Newman},
This paper is about labelling regions of a mobile robot’s workspace using scene appearance similarity. We do this by operating on a single matrix which expresses the pairwise similarity between all captured scenes. We describe and motivate a sequence of algorithms which, in conjunction with spatial constraints provided by the continuous motion of the vehicle, produce meaningful workspace segmentations. We provide detailed experimental results from various outdoor trials.