LexToMap: lexical-based topological mapping
Any robot should be provided with a proper representation of its environment in order to perform navigation and other tasks. In addition to metrical approaches, topological mapping generates graph representations in which nodes and edges correspond to locations and transitions. In this article, we p...
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| Other Authors: | , , |
| Format: | article |
| Language: | English |
| Published: |
2019
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| Online Access: | https://www.tandfonline.com/doi/abs/10.1080/01691864.2016.1261045 https://ridda2.utp.ac.pa/handle/123456789/9434 |
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| _version_ | 1869652477741105152 |
|---|---|
| author | Rangel, José Carlos |
| author2 | Martínez Gómez, Jesus García Varea, Ismael Cazorla, Miguel |
| author2_role | author author author |
| author_browse | Cazorla, Miguel García Varea, Ismael Martínez Gómez, Jesus Rangel, José Carlos |
| author_facet | Rangel, José Carlos Martínez Gómez, Jesus García Varea, Ismael Cazorla, Miguel |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.creator.none.fl_str_mv | Rangel, José Carlos Martínez Gómez, Jesus García Varea, Ismael Cazorla, Miguel |
| dc.date.none.fl_str_mv | 11/30/2016 11/30/2016 2019-12-17T19:33:42Z 2019-12-17T19:33:42Z 2019-12-17T19:33:42Z 2019-12-17T19:33:42Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://www.tandfonline.com/doi/abs/10.1080/01691864.2016.1261045 https://ridda2.utp.ac.pa/handle/123456789/9434 https://ridda2.utp.ac.pa/handle/123456789/9434 |
| dc.language.none.fl_str_mv | eng eng |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/embargoedAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Topological mapping deep learning localization image annotations lexical labels Topological mapping deep learning localization image annotations lexical labels |
| dc.title.none.fl_str_mv | LexToMap: lexical-based topological mapping |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | Any robot should be provided with a proper representation of its environment in order to perform navigation and other tasks. In addition to metrical approaches, topological mapping generates graph representations in which nodes and edges correspond to locations and transitions. In this article, we present LexToMap, a topological mapping procedure that relies on image annotations. These annotations, represented in this work by lexical labels, are obtained from pre-trained deep learning models, namely CNNs, and are used to estimate image similarities. Moreover, the lexical labels contribute to the descriptive capabilities of the topological maps. The proposal has been evaluated using the KTH-IDOL 2 data-set, which consists of image sequences acquired within an indoor environment under three different lighting conditions. The generality of the procedure as well as the descriptive capabilities of the generated maps validate the proposal. |
| eu_rights_str_mv | embargoedAccess |
| format | article |
| id | lrtest_fafb9d2d6607924e27af981bc8e9cd2d |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | eng |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/9434 |
| publishDate | 2019 |
| publishDateSort | 2019 |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | LexToMap: lexical-based topological mappingRangel, José CarlosMartínez Gómez, JesusGarcía Varea, IsmaelCazorla, MiguelTopological mappingdeep learninglocalizationimage annotationslexical labelsTopological mappingdeep learninglocalizationimage annotationslexical labelsAny robot should be provided with a proper representation of its environment in order to perform navigation and other tasks. In addition to metrical approaches, topological mapping generates graph representations in which nodes and edges correspond to locations and transitions. In this article, we present LexToMap, a topological mapping procedure that relies on image annotations. These annotations, represented in this work by lexical labels, are obtained from pre-trained deep learning models, namely CNNs, and are used to estimate image similarities. Moreover, the lexical labels contribute to the descriptive capabilities of the topological maps. The proposal has been evaluated using the KTH-IDOL 2 data-set, which consists of image sequences acquired within an indoor environment under three different lighting conditions. The generality of the procedure as well as the descriptive capabilities of the generated maps validate the proposal.Any robot should be provided with a proper representation of its environment in order to perform navigation and other tasks. In addition to metrical approaches, topological mapping generates graph representations in which nodes and edges correspond to locations and transitions. In this article, we present LexToMap, a topological mapping procedure that relies on image annotations. These annotations, represented in this work by lexical labels, are obtained from pre-trained deep learning models, namely CNNs, and are used to estimate image similarities. Moreover, the lexical labels contribute to the descriptive capabilities of the topological maps. The proposal has been evaluated using the KTH-IDOL 2 data-set, which consists of image sequences acquired within an indoor environment under three different lighting conditions. The generality of the procedure as well as the descriptive capabilities of the generated maps validate the proposal.2019-12-17T19:33:42Z2019-12-17T19:33:42Z2019-12-17T19:33:42Z2019-12-17T19:33:42Z11/30/201611/30/2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://www.tandfonline.com/doi/abs/10.1080/01691864.2016.1261045https://ridda2.utp.ac.pa/handle/123456789/9434https://ridda2.utp.ac.pa/handle/123456789/9434engenginfo:eu-repo/semantics/embargoedAccessreponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáoai:ridda2.utp.ac.pa:123456789/94342021-07-06T15:35:10Z |
| spellingShingle | LexToMap: lexical-based topological mapping Rangel, José Carlos Topological mapping deep learning localization image annotations lexical labels Topological mapping deep learning localization image annotations lexical labels |
| status_str | publishedVersion |
| title | LexToMap: lexical-based topological mapping |
| title_full | LexToMap: lexical-based topological mapping |
| title_fullStr | LexToMap: lexical-based topological mapping |
| title_full_unstemmed | LexToMap: lexical-based topological mapping |
| title_short | LexToMap: lexical-based topological mapping |
| title_sort | LexToMap: lexical-based topological mapping |
| topic | Topological mapping deep learning localization image annotations lexical labels Topological mapping deep learning localization image annotations lexical labels |
| url | https://www.tandfonline.com/doi/abs/10.1080/01691864.2016.1261045 https://ridda2.utp.ac.pa/handle/123456789/9434 |