VIEW-BASED ROBOT LOCALIZATION USING ILLUMINATION-INVARIANT SPHERICAL HARMONICS DESCRIPTORS

Holger Friedrich; David Dederscheck; Martin Mutz; Rudolf Mester

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Paper

VIEW-BASED ROBOT LOCALIZATION USING ILLUMINATION-INVARIANT SPHERICAL HARMONICS DESCRIPTORS

Topics: Active and Robot Vision; Early Vision and Image Representation; Illumination and Reflectance Modeling; Image Formation, Acquisition Devices and Sensors; Implementation of Image and Video Processing Systems; Real-Time Vision; Recognition and Indexing; Statistical Approach; Visual Learning; Visual Navigation; Visually Guided Robotics

In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, 543-550, 2008 , Funchal, Madeira, Portugal

Authors: Holger Friedrich ; David Dederscheck ; Martin Mutz and Rudolf Mester

Affiliation: Visual Sensorics and Information Processing Lab, J. W. Goethe University, Germany

Keyword(s): Robot localization, spherical harmonics, illumination invariance.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Early Vision and Image Representation ; Illumination and Reflectance Modeling ; Image and Video Analysis ; Image Formation and Preprocessing ; Image Formation, Acquisition Devices and Sensors ; Implementation of Image and Video Processing Systems ; Motion, Tracking and Stereo Vision ; Real-Time Vision ; Statistical Approach ; Visual Navigation ; Visually Guided Robotics

Abstract: In this work we present a view-based approach for robot self-localization using a hemispherical camera system. We use view descriptors that are based upon Spherical Harmonics as orthonormal basis functions on the sphere. The resulting compact representation of the image signal enables us to efficiently compare the views taken at different locations. With the view descriptors stored in a database, we compute a similarity map for the current view by means of a suitable distance metric. Advanced statistical models based upon principal component analysis introduced to that metric allows to deal with severe illumination changes, extending our method to real-world applications.

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Paper citation in several formats:

Friedrich, H.; Dederscheck, D.; Mutz, M. and Mester, R. (2008). VIEW-BASED ROBOT LOCALIZATION USING ILLUMINATION-INVARIANT SPHERICAL HARMONICS DESCRIPTORS. In Proceedings of the Third International Conference on Computer Vision Theory and Applications (VISIGRAPP 2008) - Volume 1: VISAPP; ISBN 978-989-8111-21-0; ISSN 2184-4321, SciTePress, pages 543-550. DOI: 10.5220/0001083705430550

@conference{visapp08,
author={Holger Friedrich. and David Dederscheck. and Martin Mutz. and Rudolf Mester.},
title={VIEW-BASED ROBOT LOCALIZATION USING ILLUMINATION-INVARIANT SPHERICAL HARMONICS DESCRIPTORS},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications (VISIGRAPP 2008) - Volume 1: VISAPP},
year={2008},
pages={543-550},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001083705430550},
isbn={978-989-8111-21-0},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications (VISIGRAPP 2008) - Volume 1: VISAPP
TI - VIEW-BASED ROBOT LOCALIZATION USING ILLUMINATION-INVARIANT SPHERICAL HARMONICS DESCRIPTORS
SN - 978-989-8111-21-0
IS - 2184-4321
AU - Friedrich, H.
AU - Dederscheck, D.
AU - Mutz, M.
AU - Mester, R.
PY - 2008
SP - 543
EP - 550
DO - 10.5220/0001083705430550
PB - SciTePress