A Compact Planar-patch Descriptor based on Color

Eduardo Fernández-Moral, Javier González-Jiménez, Vicente Arévalo

2014

Abstract

The representation of the world upon planar patches has proven to be simple, robust and useful for a variety of robotic tasks, including SLAM, autonomous navigation, or scene recognition. In this work we investigate how to incorporate color information into such representation to improve the matching of planar patches while maintaining the model compactness, which is essential for real-time applications. We propose a descriptor based on the dominant color of the patch, which is defined as the center of the biggest cluster in the patch histogram. In the paper, different color spaces and methods for extracting the dominant color are analyzed. We compare this descriptor with a recent proposal (saturated hue based histogram) and provide some conclusions on the trade-off between their descriptiveness and compactness. Finally, we present experimental results showing how our color descriptor can be exploited to increase the efficiency of both: plane-based place recognition and planar patch categorization.

References

  1. Argiles, A., Civera, J., and Montesano, L. (2011). Dense multi-planar scene estimation from a sparse set of images. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 4448- 4454.
  2. Bhattacharyya, A. (1946). On a measure of divergence between two multinomial populations. Sankhya¯: The Indian Journal of Statistics (1933-1960), 7(4):401-406.
  3. Chekhlov, D., Gee, A., Calway, A., and Mayol-Cuevas, W. (2007). Ninja on a plane: Automatic discovery of physical planes for augmented reality using visual slam. In Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pages 1-4. IEEE Computer Society.
  4. Comaniciu, D. and Meer, P. (1997). Robust analysis of feature spaces: color image segmentation. In Computer Vision and Pattern Recognition, 1997. Proceedings., 1997 IEEE Computer Society Conference on, pages 750 -755.
  5. Fernández-Moral, E., Mayol-Cuevas, W., Arévalo, V., and González-Jiménez, J. (2013). Fast place recognition with plane-based maps. In Robotics and Automation (ICRA), in 2013 IEEE International Conference on. IEEE.
  6. Gevers, T. and Smeulders, W. (1999). Color based object recognition. Pattern recognition, 32(3):453-464.
  7. Grimson, W. E. L. (1990). Object Recognition by Computer - The role of Geometric Constraints. MIT Press, Cambridge, MA.
  8. Hafner, J., Sawhney, H., Equitz, W., Flickner, M., and Niblack, W. (1995). Efficient color histogram indexing for quadratic form distance functions. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 17(7):729 -736.
  9. Holz, D. and Behnke, S. (2013). Fast range image segmentation and smoothing using approximate surface reconstruction and region growing. In Intelligent Autonomous Systems 12, pages 61-73. Springer.
  10. Manjunath, B., Ohm, J.-R., Vasudevan, V., and Yamada, A. (2001). Color and texture descriptors. Circuits and Systems for Video Technology, IEEE Transactions on, 11(6):703 -715.
  11. Martinez-Carranza, J. and Calway, A. (2012). Efficient visual odometry using a structure-driven temporal map. In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages 5210-5215.
  12. Pathak, K., Vaskevicius, N., Bungiu, F., and Birk, A. (2012). Utilizing color information in 3d scanregistration using planar-patches matching. In Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on, pages 371-376.
  13. Pele, O. and Werman, M. (2010). The quadratic-chi histogram distance family. Computer Vision-ECCV 2010, pages 749-762.
  14. Poppinga, J., Vaskevicius, N., Birk, A., and Pathak, K. (2008). Fast plane detection and polygonalization in noisy 3d range images. In Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, pages 3378-3383. IEEE.
  15. Swain, M. J. and Ballard, D. H. (1991). Color indexing. International Journal of Computer Vision, 7(1):11-32.
  16. Weingarten, J. and Siegwart, R. (2006). 3d slam using planar segments. In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages 3062- 3067.
Download


Paper Citation


in Harvard Style

Fernández-Moral E., González-Jiménez J. and Arévalo V. (2014). A Compact Planar-patch Descriptor based on Color . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 296-302. DOI: 10.5220/0005015102960302


in Bibtex Style

@conference{icinco14,
author={Eduardo Fernández-Moral and Javier González-Jiménez and Vicente Arévalo},
title={A Compact Planar-patch Descriptor based on Color},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={296-302},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005015102960302},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Compact Planar-patch Descriptor based on Color
SN - 978-989-758-040-6
AU - Fernández-Moral E.
AU - González-Jiménez J.
AU - Arévalo V.
PY - 2014
SP - 296
EP - 302
DO - 10.5220/0005015102960302