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Authors: Lorenzo Fernández ; Luis Payá ; Oscar Reinoso and Francisco Amorós

Affiliation: Miguel Hernández University, Spain

ISBN: 978-989-8425-75-1

Keyword(s): Visual odometry, Global appearance, Omnidirectional images, Fourier descriptor, Visual compass.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: In this paper we deal with the problem of map creation and localization of a mobile robot using omnidirectional images. We describe a real-time algorithm for topological mapping, using as input data only a set of images captured by a single omnidirectional camera mounted at a fixed position on the mobile robot. To compute the topological relationships between locations in the map, we use techniques based in the global appearance of the images. When using these methods, it is important to remove redundant information to get an acceptable computational cost when comparing locations. With this aim, we describe each omnidirectional image by a single Fourier descriptor that represents the appearance as well as the relative orientation between images. This algorithm permits computing the relative topological position of a location with respect to the previous one, acting as a visual compass. We have carried out a complete set of experiments to study the validity of the proposed visual odom etry and topological mapping and to perform an objective comparison between the results obtained using the robot odometry, our visual odometry and the ground truth. We have also checked the time consumption to carry out the process and the geometrical accuracy obtained comparing to the ground truth. (More)

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Paper citation in several formats:
Fernández, L.; Payá, L.; Reinoso, O. and Amorós, F. (2011). APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 205-210. DOI: 10.5220/0003533602050210

@conference{icinco11,
author={Lorenzo Fernández. and Luis Payá. and Oscar Reinoso. and Francisco Amorós.},
title={APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={205-210},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533602050210},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping
SN - 978-989-8425-75-1
AU - Fernández, L.
AU - Payá, L.
AU - Reinoso, O.
AU - Amorós, F.
PY - 2011
SP - 205
EP - 210
DO - 10.5220/0003533602050210

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