ROBUST METHODS FOR ROBOT LOCALIZATION UNDER CHANGING ILLUMINATION CONDITIONS - Comparison of Different Filtering Techniques

Lorenzo Fernández Rojo, Luis Payá, Oscar Reinoso, Arturo Gil, Miguel Juliá

Abstract

The use of omnidirectional systems provides us with rich visual information that allows us to create appearance-based dense maps. This map can be composed of several panoramic images taken from different positions in the environment. When the map contains only visual information, it will depend heavily on the conditions of the environment lighting. Therefore we get different visual information depending on the time of day when the map is created, the state of artificial lighting in the environment, or any other circumstance that causes a change in the illumination of the scene. To obtain a robust map against changes in the illumination of the environment we apply different filters on the panoramic images. After that, we use some compression methods that allow us to reduce the amount of information stored. We have conducted a comprehensive experimentation to study which type of filter best adapts to changing lighting conditions.

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Paper Citation


in Harvard Style

Fernández Rojo L., Payá L., Reinoso O., Gil A. and Juliá M. (2010). ROBUST METHODS FOR ROBOT LOCALIZATION UNDER CHANGING ILLUMINATION CONDITIONS - Comparison of Different Filtering Techniques . In Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-674-021-4, pages 223-228. DOI: 10.5220/0002705002230228


in Bibtex Style

@conference{icaart10,
author={Lorenzo Fernández Rojo and Luis Payá and Oscar Reinoso and Arturo Gil and Miguel Juliá},
title={ROBUST METHODS FOR ROBOT LOCALIZATION UNDER CHANGING ILLUMINATION CONDITIONS - Comparison of Different Filtering Techniques},
booktitle={Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2010},
pages={223-228},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002705002230228},
isbn={978-989-674-021-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - ROBUST METHODS FOR ROBOT LOCALIZATION UNDER CHANGING ILLUMINATION CONDITIONS - Comparison of Different Filtering Techniques
SN - 978-989-674-021-4
AU - Fernández Rojo L.
AU - Payá L.
AU - Reinoso O.
AU - Gil A.
AU - Juliá M.
PY - 2010
SP - 223
EP - 228
DO - 10.5220/0002705002230228