Document Type



Computer Engineering | Robotics


In this paper we evaluate the use of a novel spatial histogram called the terrain spatiogram as a common representation for exchanging landmark information between robots working as a team to map an area. Individual robots use range sensors to provide the spatial dimension of the spatiogram and video for the image dimension. We have previously shown that terrain spatiograms can be shared between robots in a heterogeneous team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. A terrain spatiogram using a mixture of Gaussians (MOG) model is introduced and a corresponding normalized spatiogram similarity measure defined. Two methods to generate a MOG terrain spatiogram are presented and compared experimentally using indoor and outdoor landmark information transferred between two different models of robot equipped with differently configured stereocameras.

Article Number


Publication Date



IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), St Louis, MO, October 2009

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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