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In this paper we present a system for appearance-based topological mapping and localisation using vision data. The algorithms are designed for robots which are equipped with FPGA cameras. Such cameras do not provide the entire image to the robot but simple image features like colour histograms.
In this paper we address the problem of topologically mapping environments which contain inherent perceptual aliasing caused by repeated environment structures. We propose an approach that does not use motion or odometric information but only a sequence of deterministic measurements observed by traversing an environment. Our algorithm implements a stochastic local search to build a small map which...
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