Efficient Topological Localization Using Global and Local Feature Matching : Localizzazione topologica efficiente utilizzando il matching di caratteristiche locali e globali, in: International Journal of Advanced Robotic Systems

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Author	Wang, Junqiu; Yagi, Yasushi
Published	InTech Open Access Publisher, 2013
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Abstract	We present an efficient vision‐based global topological localization approach in which different image features are used in a coarse‐to‐fine matching framework. Orientation Adjacency Coherence Histogram (OACH), a novel image feature, is proposed to improve the coarse localization. The coarse localization results are taken as inputs for the fine localization which is carried out by matching Harris‐ Laplace interest points characterized by the SIFT descriptor. The computation of OACHs and interest points is efficient due to the fact that these features are computed in an integrated process. The matching of local features is improved by using approximate nearest neighbor searching technique. We have implemented and tested the localization system in real environments. The experimental results demonstrate that our approach is efficient and reliable in both indoor and outdoor environments. This work has also been compared with previous works. The comparison results show that our approach has better performance with higher correct ratio and lower computational complexity.

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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004

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International Journal of Advanced Robotic Systems

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DMG-Lib		https://www.dmg-lib.org/dmglib/handler?docum=31942009
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31942009.html
PDF		Efficient Topological Localization Using Global and Local Feature Matching

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Time of publication		2013
License information		This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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Efficient Topological Localization Using Global and Local Feature Matching : Localizzazione topologica efficiente utilizzando il matching di caratteristiche locali e globali, in: International Journal of Advanced Robotic Systems

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