Incremental Spectral Clustering and Its Application To Topological Mapping
- 1 April 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 4283-4288
- https://doi.org/10.1109/robot.2007.364138
Abstract
This paper presents a novel use of spectral clustering algorithms to support cases where the entries in the affinity matrix are costly to compute. The method is incremental - the spectral clustering algorithm is applied to the affinity matrix after each row/column is added - which makes it possible to inspect the clusters as new data points are added. The method is well suited to the problem of appearance-based, on-line topological mapping for mobile robots. In this problem domain, we show that we can reduce environment-dependent parameters of the clustering algorithm to just a single, intuitive parameter. Experimental results in large outdoor and indoor environments show that we can close loops correctly by computing only a fraction of the entries in the affinity matrix. The accompanying video clip shows how an example map is produced by the algorithm.Keywords
This publication has 10 references indexed in Scilit:
- Incremental Topological Mapping Using Omnidirectional VisionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Hierarchical map building and planning based on graph partitioningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Functional grouping of genes using spectral clustering and gene ontologyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Topological Mapping with Multiple Visual ManifoldsPublished by Robotics: Science and Systems Foundation ,2005
- Localization for Mobile Robots using Panoramic Vision, Local Features and Particle FilterPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Incremental robot mapping with fingerprints of placesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Robust path-based spectral clustering with application to image segmentationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Spectral Clustering for Robust Motion SegmentationPublished by Springer Nature ,2004
- Vision-based navigation and environmental representations with an omnidirectional cameraIEEE Transactions on Robotics and Automation, 2000
- Object recognition from local scale-invariant featuresPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1999