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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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Autor Wang, Junqiu; Yagi, Yasushi
Publicat  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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2000 şi ulterior
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autor: 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, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=31942009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31942009.html
PDF FaviconPDF  Efficient Topological Localization Using Global and Local Feature Matching
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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