@INPROCEEDINGS{5354131, 
author={M. Liu and D. Scaramuzza and C. Pradalier and R. Siegwart and Q. Chen}, 
booktitle={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={Scene recognition with omnidirectional vision for topological map using lightweight adaptive descriptors}, 
year={2009}, 
volume={}, 
number={}, 
pages={116-121}, 
keywords={feature extraction;image colour analysis;image recognition;mobile robots;robot vision;color features;feature extraction;geometric information;lightweight adaptive descriptor;localization problem;mobile robot;omnidirectional vision;scene matching;scene recognition;topological map;Data mining;Image segmentation;Indoor environments;Layout;Lighting;Mobile robots;Orbital robotics;Robotics and automation;Robustness;Testing}, 
doi={10.1109/IROS.2009.5354131}, 
ISSN={2153-0858}, 
month={Oct},}