Pyramidal Multi-level Features for the Robot Vision@ICPR 2010 Challenge

This paper combines and proposes two novel multilevel spatial pyramidal (sp) features: spELBP (Extended Local Binary Pattern), spELBOP (Extended Local Binary Orientation Pattern) and spHOEE (Histogram of Oriented Edge Energy). These features feed state-of-the-art SVM algorithms for the localization of a robot in indoor environments. Two tasks are associated with the RobotVision@ICPR 2010 Challenge, the first one uses only a frame of stereoscopic images, the second takes into account the dynamics of the robot for improving results. Our scores are ranked 3^rd for Task1 and 1^st for Task2.