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Title: Novelty detection and segmentation based on Gaussian mixture models: a case study in 3D robotic laser mapping
Authors: Drews-Jr., Paulo 
Núñez, Pedro 
Rocha, Rui P. 
Campos, Mario 
Dias, Jorge 
Keywords: Novelty detection; Gaussian mixture model; 3D robotic mapping
Issue Date: Dec-2013
Publisher: Elsevier
Citation: DREWS-JR., Paulo [et. al] - Novelty detection and segmentation based on Gaussian mixture models: a case study in 3D robotic laser mapping. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 61 Nº. 12 (2013) p. 1696-1709
Serial title, monograph or event: Robotics and Autonomous Systems
Volume: 61
Issue: 12
Abstract: This article proposes a framework to detect and segment changes in robotics datasets, using 3D robotic mapping as a case study. The problem is very relevant in several application domains, not necessarily related with mobile robotics, including security, health, industry and military applications. The aim is to identify significant changes by comparing current data with previous data provided by sensors. This feature is extremely challenging because large amounts of noisy data must be processed in a feasible way. The proposed framework deals with novelty detection and segmentation in robotic maps using clusters provided by Gaussian Mixture Models (GMMs). GMMs provides a feature space that enables data compression and effective processing. Two alternative criteria to detect changes in the GMM space are compared: a greedy technique based on the Earth Mover’s Distance (EMD); and a structural matching algorithm that fulfills both absolute (global matching) and relative constraints (structural matching). The proposed framework is evaluated with real robotic datasets and compared with other methods known from literature. With this purpose, 3D mapping experiments are carried out with both simulated data and real data from a mobile robot equipped with a 3D range sensor.
ISSN: 0921-8890
DOI: 10.1016/j.robot.2013.06.004
Rights: openAccess
Appears in Collections:I&D ISR - Artigos em Revistas Internacionais
FCTUC Eng.Electrotécnica - Artigos em Revistas Internacionais

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