Title: From omnidirectional images to hierarchical localization
Authors: Murillo, A.C. ×
Sagues, Carlos
Guerrero, José Jesús
Goedemé, Toon
Tuytelaars, Tinne
Van Gool, Luc #
Issue Date: May-2007
Publisher: Elsevier Science Publishers
Series Title: Robotics and Autonomous Systems vol:55 issue:5 pages:372-382
Abstract: We propose a new vision-based method for global robot localization using an omnidirectional camera. Topological and metric localization information are combined in an efficient, hierarchical process, with each step being more complex and accurate than the previous one but evaluating fewer images. This allows us to work with large reference image sets in a reasonable amount of time. Simultaneously, thanks to the use of I D three-view geometry, accurate metric localization can be achieved based on just a small number of nearby reference images. Owing to the wide baseline features used, the method deals well with illumination changes and occlusions, while keeping the computational load small. The simplicity of the radial line features used speeds up the process without affecting the accuracy too much. We show experiments with two omnidirectional image data sets to evaluate the performance of the method and compare the results using the proposed radial lines with results from state-of-the-art wide-baseline matching techniques. (c) 2006 Elsevier B.V. All rights reserved.
Description: Murillo A.C., Sagüés C., Guerrero J.J., Goedemé T., Tuytelaars T., Van Gool L., ''From omnidirectional images to hierarchical localization'', Robotics and autonomous systems, vol. 55, no. 5, pp. 372-382, 2007.
ISSN: 0921-8890
Publication status: published
KU Leuven publication type: IT
Appears in Collections:ESAT - PSI, Processing Speech and Images
Technologiecluster ESAT Elektrotechnische Engineering
Electrical Engineering (ESAT) TC, Technology Campus De Nayer Sint-Katelijne-Waver
× corresponding author
# (joint) last author

Files in This Item:

There are no files associated with this item.

Request a copy


All items in Lirias are protected by copyright, with all rights reserved.

© Web of science