VISUAL MAP BUILDING AND LOCALIZATION WITH AN APPEARANCE-BASED APPROACH - Comparisons of Techniques to Extract Information of Panoramic Images

Francisco Amorós, Luis Payá, Óscar Reinoso, Lorenzo Fernández, Jose Mª Marín

Abstract

Appearance-based techniques have proved to constitute a robust approach to build a topological map of an environment using just visual information. In this paper, we describe a complete methodology to build appearance-based maps from a set of omnidirectional images captured by a robot along an environment. To extract the most relevant information from the images, we use and compare the performance of several compressing methods. In this analysis we include their invariance against rotations of the robot on the ground plane and small changes in the environment. The main objective consists in building a map that the robot can use in any application where it needs to know its position and orientation within the environment, with minimum memory requirements and computational cost but with a reasonable accuracy. This way, we present both a method to build the map and a method to test its performance in future applications.

References

  1. Dalal, N. and Triggs, B. (2005). Histograms of oriented gradients fot human detection. In Proc of the IEEE Conf on Computer Vision and Pattern Recognition, San Diego, USA. Vol. II, pp. 886-893.
  2. Gil, A., Martinez, O., Ballesta, M., and Reinoso, O. (2009). A comparative evaluation of interest point detectors and local descriptors for visual slam. Machine Vision and Applications (MVA).
  3. Jogan, M. and Leonardis, A. (2000). Robust localization using eigenspace of spinning-images. In Proc. IEEE Workshop on Omnidirectional Vision, Hilton Head Island, USA, pp. 37-44. IEEE.
  4. Krose, B., Bunschoten, R., Hagen, S., Terwijn, B., and Vlassis, N. (2007). Visual homing in enviroments with anisotropic landmark distrubution. In Autonomous Robots, 23(3), 2007, pp. 231-245.
  5. Menegatti, E., Maeda, T., and Ishiguro, H. (2004). Imagebased memory for robot navigation using properties of omnidirectional images. In Robotics and Autonomous Systems. Vol. 47, No. 4, pp. 251-276.
  6. Moeller, R., Vardy, A., Kreft, S., and Ruwisch, S. (2007). Visual homing in enviroments with anisotropic landmark distrubution. In Autonomous Robots, 23(3), 2007, pp. 231-245.
  7. Paya, L., Fernandez, L., Reinoso, O., Gil, A., and Ubeda, D. (2009). Appearance-based dense maps creation. In 6th Int Conf on Informatics in Control, Automation and Robotics ICINCO 2009. Ed. INTICC PRESS - pp. 250-255.
  8. Thrun, S. (2003). Robotic mapping: A survey, in exploring artificial intelligence. In The New Milenium, pp. 1-35. Morgan Kaufmann Publishers, San Francisco, USA.
Download


Paper Citation


in Harvard Style

Amorós F., Payá L., Reinoso Ó., Fernández L. and Marín J. (2010). VISUAL MAP BUILDING AND LOCALIZATION WITH AN APPEARANCE-BASED APPROACH - Comparisons of Techniques to Extract Information of Panoramic Images . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 423-426. DOI: 10.5220/0002949404230426


in Bibtex Style

@conference{icinco10,
author={Francisco Amorós and Luis Payá and Óscar Reinoso and Lorenzo Fernández and Jose Mª Marín},
title={VISUAL MAP BUILDING AND LOCALIZATION WITH AN APPEARANCE-BASED APPROACH - Comparisons of Techniques to Extract Information of Panoramic Images},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={423-426},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002949404230426},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VISUAL MAP BUILDING AND LOCALIZATION WITH AN APPEARANCE-BASED APPROACH - Comparisons of Techniques to Extract Information of Panoramic Images
SN - 978-989-8425-01-0
AU - Amorós F.
AU - Payá L.
AU - Reinoso Ó.
AU - Fernández L.
AU - Marín J.
PY - 2010
SP - 423
EP - 426
DO - 10.5220/0002949404230426