{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:05:12Z","timestamp":1777716312148,"version":"3.51.4"},"reference-count":70,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2013,11,29]],"date-time":"2013-11-29T00:00:00Z","timestamp":1385683200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,12]]},"abstract":"<jats:p>In this work, we present a novel approach that allows a robot to improve its own navigation performance through introspection and then targeted data retrieval. It is a step in the direction of life-long learning and adaptation and is motivated by the desire to build robots that have plastic competencies which are not baked in. They should react to and benefit from use. We consider a particular instantiation of this problem in the context of place recognition. Based on a topic-based probabilistic representation for images, we use a measure of perplexity to evaluate how well a working set of background images explain the robot\u2019s online view of the world. Offline, the robot then searches an external resource to seek out additional background images that bolster its ability to localize in its environment when used next. In this way the robot adapts and improves performance through use. We demonstrate this approach using data collected from a mobile robot operating in outdoor workspaces.<\/jats:p>","DOI":"10.1177\/0278364913509859","type":"journal-article","created":{"date-parts":[[2013,11,29]],"date-time":"2013-11-29T22:20:27Z","timestamp":1385763627000},"page":"1742-1766","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Self-help: Seeking out perplexing images for ever improving topological mapping"],"prefix":"10.1177","volume":"32","author":[{"given":"Rohan","family":"Paul","sequence":"first","affiliation":[{"name":"Oxford University Mobile Robotics Research Group, UK"}]},{"given":"Paul","family":"Newman","sequence":"additional","affiliation":[{"name":"Oxford University Mobile Robotics Research Group, UK"}]}],"member":"179","published-online":{"date-parts":[[2013,11,29]]},"reference":[{"key":"bibr1-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004514"},{"key":"bibr2-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611972771.40"},{"key":"bibr3-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1007\/11744023_32"},{"key":"bibr4-0278364913509859","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2005.I.003"},{"key":"bibr5-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1214\/07-AOAS114"},{"key":"bibr6-0278364913509859","first-page":"993","volume":"3","author":"Blei D","year":"2003","journal-title":"The Journal of Machine Learning Research"},{"key":"bibr7-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-006-0009-9"},{"key":"bibr8-0278364913509859","first-page":"4665","volume":"1002","author":"Boyd-Graber J","year":"2010","journal-title":"Arxiv preprint arXiv:"},{"key":"bibr9-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224596"},{"key":"bibr10-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363622"},{"key":"bibr11-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090961"},{"key":"bibr12-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910385483"},{"key":"bibr13-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-56602-3_133"},{"key":"bibr14-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650701"},{"key":"bibr15-0278364913509859","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.015"},{"key":"bibr16-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.16"},{"key":"bibr17-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509464"},{"key":"bibr18-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650315"},{"key":"bibr19-0278364913509859","volume-title":"International symposium on experimental robotics","author":"Girdhar Y","year":"2012"},{"key":"bibr20-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509547"},{"key":"bibr21-0278364913509859","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0307752101"},{"key":"bibr22-0278364913509859","unstructured":"Heinrich G (2005) Parameter estimation for text analysis. 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