COMPARISON OF GLOBAL-APPEARANCE TECHNIQUES APPLIED TO VISUAL MAP BUILDING AND LOCALIZATION

Francisco Amorós, Luis Payá, Oscar Reinoso, Luis M. Jiménez

Abstract

Techniques based on the global appearance of visual information have proved to be a robust alternative in the field of robotic mapping and localization. However, they present some critical issues that must be studied when trying to build an application that works in real time. In this paper, we review and compare several methods to build a global descriptor of panoramic scenes and we study the critical parameters that make their applicable or not in real mapping and localizations tasks, such as invariance against rotations, computational costs and accuracy in robot localization. All the experiments have been carried out with omnidirectional images captured in a real environment under realistic lighting conditions.

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Paper Citation


in Harvard Style

Amorós F., Payá L., Reinoso O. and M. Jiménez L. (2012). COMPARISON OF GLOBAL-APPEARANCE TECHNIQUES APPLIED TO VISUAL MAP BUILDING AND LOCALIZATION . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012) ISBN 978-989-8565-04-4, pages 395-398. DOI: 10.5220/0003864703950398


in Bibtex Style

@conference{visapp12,
author={Francisco Amorós and Luis Payá and Oscar Reinoso and Luis M. Jiménez},
title={COMPARISON OF GLOBAL-APPEARANCE TECHNIQUES APPLIED TO VISUAL MAP BUILDING AND LOCALIZATION},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)},
year={2012},
pages={395-398},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003864703950398},
isbn={978-989-8565-04-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)
TI - COMPARISON OF GLOBAL-APPEARANCE TECHNIQUES APPLIED TO VISUAL MAP BUILDING AND LOCALIZATION
SN - 978-989-8565-04-4
AU - Amorós F.
AU - Payá L.
AU - Reinoso O.
AU - M. Jiménez L.
PY - 2012
SP - 395
EP - 398
DO - 10.5220/0003864703950398