Title :
Invariant signatures for omnidirectional visual place recognition and robot localization in unknown environments
Author :
Marie, Rodolphe ; Labbani-Igbida, O. ; Mouaddib, El Mustapha
Author_Institution :
Modelisation, Inf. & Syst. Lab., Univ. of Picardie Jules Verne, Amiens, France
Abstract :
The paper introduces a novel approach to place representation for robot localization and mapping. It uses classical invariance theory while proposing an adaptive kernel to omnidirectional images and exploiting only the main significant visual information in the images. The approach is validated in real world robot exploration and localization and compared to color histograms.
Keywords :
SLAM (robots); image colour analysis; image representation; mobile robots; object recognition; path planning; robot vision; adaptive kernel; classical invariance theory; color histograms; invariant signatures; omnidirectional images; omnidirectional visual place recognition; place representation; robot exploration; robot localization; robot mapping; unknown environments; Histograms; Image color analysis; Kernel; Robot sensing systems; Visualization;
Conference_Titel :
Pattern Recognition (ICPR), 2012 21st International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
978-1-4673-2216-4
