Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis
Joint Authors
Reinoso García, Oscar
Mayol-Cuevas, Walterio
Amorós, Francisco
Payá Castelló, Luis
Calway, Andrew
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-23, 23 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-07-22
Country of Publication
Egypt
No. of Pages
23
Main Subjects
Abstract EN
In this work we present a topological map building and localization system for mobile robots based on global appearance of visual information.
We include a comparison and analysis of global-appearance techniques applied to wide-angle scenes in retrieval tasks.
Next, we define multiscale analysis, which permits improving the association between images and extracting topological distances.
Then, a topological map-building algorithm is proposed.
At first, the algorithm has information only of some isolated positions of the navigation area in the form of nodes.
Each node is composed of a collection of images that covers the complete field of view from a certain position.
The algorithm solves the node retrieval and estimates their spatial arrangement.
With these aims, it uses the visual information captured along some routes that cover the navigation area.
As a result, the algorithm builds a graph that reflects the distribution and adjacency relations between nodes (map).
After the map building, we also propose a route path estimation system.
This algorithm takes advantage of the multiscale analysis.
The accuracy in the pose estimation is not reduced to the nodes locations but also to intermediate positions between them.
The algorithms have been tested using two different databases captured in real indoor environments under dynamic conditions.
American Psychological Association (APA)
Amorós, Francisco& Payá Castelló, Luis& Reinoso García, Oscar& Mayol-Cuevas, Walterio& Calway, Andrew. 2014. Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-23.
https://search.emarefa.net/detail/BIM-466257
Modern Language Association (MLA)
Amorós, Francisco…[et al.]. Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis. Mathematical Problems in Engineering No. 2014 (2014), pp.1-23.
https://search.emarefa.net/detail/BIM-466257
American Medical Association (AMA)
Amorós, Francisco& Payá Castelló, Luis& Reinoso García, Oscar& Mayol-Cuevas, Walterio& Calway, Andrew. Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-23.
https://search.emarefa.net/detail/BIM-466257
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-466257