Robust localization using eigenspace of spinning-images

Under in-plane rotations of a panoramic camera, the information content of a panoramic image is, in general, preserved. However, different representations that can be derived have important implications on further processing, e.g. for appearance-based localisation. We discuss several approaches based on different representations that have been proposed and evaluate them from different points-of-view, in particular, we argue that most of them are not suitable for robust localization under partially occluded views. In this paper we propose a representation-eigenspace of spinning-images-which enables a straightforward application of the robust estimation of eigenimage coefficients which is directly related to the localization.