Appearance based landmark selection and reliability evaluation for topological navigation

Lorenz Gerstmayr, Alexandre Bernardino, José Santos-Victor
2004 IFAC Proceedings Volumes  
In this paper we propose two algorithms for selecting landmarks, and methods to measure the reliability of the selected landmarks, that will be used in future work to optimize topological navigation of a blimp. The first algorithm evaluates image similarities between possible landmarks. The second one, which can also be used for online landmark selection, uses Incremental Principal Component Analysis and a measure of how good a new landmark can be expressed in the existing eigenspace.
doi:10.1016/s1474-6670(17)31959-6 fatcat:jcfotqzkkneanai5ynze3oagoq