Unsupervised Part-Based Scene Modeling for Map Matching

Abstract

In exploring the 1-to-Nmap matching problem that exploits a compact map data description, we hope to improve map matching scalability used in robot vision tasks. We propose explicitly targeting fast succinct map matching, which consists of map matching subtasks alone. These tasks include offline map matching attempts to find compact part-based scene models that effectively explain individual maps by using fewer larger parts. These tasks also include online map matching to find correspondence between part-based maps efficiently. Our part-based scene modeling approach is unsupervised and uses common pattern discovery (CPD) between input and known reference maps. Results of our experiments, which use a publicly available radish dataset, confirm the effectiveness of our proposed approach.