Evaluation of Local Descriptors for Vision-Based Localization of Humanoid Robots

被引:5
作者
Aldana-Murillo, Noe G. [1 ]
Hayet, Jean-Bernard [1 ]
Becerra, Hector M. [1 ]
机构
[1] Ctr Invest Matemat CIMAT, Guanajuato 36240, Gto, Mexico
来源
PATTERN RECOGNITION (MCPR 2015) | 2015年 / 9116卷
关键词
Vision-based localization; Humanoid robots; Local descriptors comparison; Visual bag of words; WORDS;
D O I
10.1007/978-3-319-19264-2_18
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this paper, we address the problem of appearance-based localization of humanoid robots in the context of robot navigation using a visual memory. This problem consists in determining the most similar image belonging to a previously acquired set of key images (visual memory) to the current view of the monocular camera carried by the robot. The robot is initially kidnapped and the current image has to be compared with the visual memory. We tackle the problem by using a hierarchical visual bag of words approach. The main contribution of the paper is a comparative evaluation of local descriptors to represent the images. Real-valued, binary and color descriptors are compared using real datasets captured by a small-size humanoid robot. A specific visual vocabulary is proposed to deal with issues generated by the humanoid locomotion: blurring and rotation around the optical axis.
引用
收藏
页码:179 / 189
页数:11
相关论文
共 14 条
  • [1] [Anonymous], 2006, 2006 IEEE COMP SOC C
  • [2] [Anonymous], INT C INT ROB SYST
  • [3] Bay H., 2008, COMPUT VIS IMAGE UND, V110, P346, DOI DOI 10.1016/j.cviu.2007.09.014
  • [4] Bag-of-Words-Driven, Single-Camera Simultaneous Localization and Mapping
    Botterill, Tom
    Mills, Steven
    Green, Richard
    [J]. JOURNAL OF FIELD ROBOTICS, 2011, 28 (02) : 204 - 226
  • [5] BRIEF: Binary Robust Independent Elementary Features
    Calonder, Michael
    Lepetit, Vincent
    Strecha, Christoph
    Fua, Pascal
    [J]. COMPUTER VISION-ECCV 2010, PT IV, 2010, 6314 : 778 - 792
  • [6] Autonomous Navigation of Vehicles from a Visual Memory Using a Generic Camera Model
    Courbon, Jonathan
    Mezouar, Youcef
    Martinet, Philippe
    [J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2009, 10 (03) : 392 - 402
  • [7] Delfin J, 2014, IEEE-RAS INT C HUMAN, P354, DOI 10.1109/HUMANOIDS.2014.7041384
  • [8] Bags of Binary Words for Fast Place Recognition in Image Sequences
    Galvez-Lopez, Dorian
    Tardos, Juan D.
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2012, 28 (05) : 1188 - 1197
  • [9] Ido Junichi, 2009, International Journal of Robotics Research, V28, P315, DOI 10.1177/0278364908095841
  • [10] Machine learning for high-speed corner detection
    Rosten, Edward
    Drummond, Tom
    [J]. COMPUTER VISION - ECCV 2006 , PT 1, PROCEEDINGS, 2006, 3951 : 430 - 443