Use of Viewpoint Information for Example Selection in CBIR

Images play important role in telerobotic interface systems. A set of images taken by an image sensor equipped on a mobile robot is helpful for a remote user to recognize the conditions of the robot as well as its operating environments. We view such an image set as a large-scale image database, and apply content-based image retrieval (CBIR) to visualize the image database. We propose a novel CBIR method that efficiently searches such relevant objects based not only on their features, but also on their locations with respect to the operating environment