Document Type

Conference Proceeding


Computer Engineering | Robotics


A team of robots working to explore and map an area may need to share information about landmarks so as to register their local maps and to plan effective exploration strategies. In previous papers we have introduced a combined image and spatial representation for landmarks: terrain spatiograms. We have shown that for manually selected views, terrain spatiograms provide an effective, shared representation that allows for occlusion filtering and a combination of multiple views.

In this paper, we present a landmark saliency architecture (LSA) for automatically selecting candidate landmarks. Using a dataset of 21 outdoor stereo images generated by LSA, we show that the terrain spatiogram representation reliably recognizes automatically selected landmarks. The terrain spatiogram results are shown to improve on two purely appearance based approaches: template matching and image histogram matching.

Article Number


Publication Date



EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tapei, Taiwan, October 2010

This research was conducted at the Fordham University Robotics and Computer Vision Lab. For more information about graduate programs in Computer Science, see, and the Fordham University Graduate School of Arts and Sciences, see

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