Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors
Joint Authors
Reinoso García, Oscar
Berenguer, Y.
Úbeda, D.
Payá Castelló, Luis
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-21, 21 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-03-15
Country of Publication
Egypt
No. of Pages
21
Main Subjects
Abstract EN
Nowadays, the design of fully autonomous mobile robots is a key discipline.
Building a robust model of the unknown environment is an important ability the robot must develop.
Using this model, this robot must be able to estimate its current position and to navigate to the target points.
The use of omnidirectional vision sensors is usual to solve these tasks.
When using this source of information, the robot must extract relevant information from the scenes both to build the model and to estimate its position.
The possible frameworks include the classical approach of extracting and describing local features or working with the global appearance of the scenes, which has emerged as a conceptually simple and robust solution.
While feature-based techniques have been extensively studied in the literature, appearance-based ones require a full comparative evaluation to reveal the performance of the existing methods and to tune correctly their parameters.
This work carries out a comparative evaluation of four global-appearance techniques in map building tasks, using omnidirectional visual information as the only source of data from the environment.
American Psychological Association (APA)
Payá Castelló, Luis& Reinoso García, Oscar& Berenguer, Y.& Úbeda, D.. 2016. Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors. Journal of Sensors،Vol. 2016, no. 2016, pp.1-21.
https://search.emarefa.net/detail/BIM-1110306
Modern Language Association (MLA)
Payá Castelló, Luis…[et al.]. Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors. Journal of Sensors No. 2016 (2016), pp.1-21.
https://search.emarefa.net/detail/BIM-1110306
American Medical Association (AMA)
Payá Castelló, Luis& Reinoso García, Oscar& Berenguer, Y.& Úbeda, D.. Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-21.
https://search.emarefa.net/detail/BIM-1110306
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110306