The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval
Over the last few years, mobile robotics has experienced a great development thanks to the wide variety of problems that can be solved with this technology. An autonomous mobile robot must be able to operate in a priori unknown environments, planning its trajectory and navigating to the required tar...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/10/3327 |
| _version_ | 1797534572310691840 |
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| author | Vicente Román Luis Payá Adrián Peidró Mónica Ballesta Oscar Reinoso |
| author_facet | Vicente Román Luis Payá Adrián Peidró Mónica Ballesta Oscar Reinoso |
| author_sort | Vicente Román |
| collection | DOAJ |
| description | Over the last few years, mobile robotics has experienced a great development thanks to the wide variety of problems that can be solved with this technology. An autonomous mobile robot must be able to operate in a priori unknown environments, planning its trajectory and navigating to the required target points. With this aim, it is crucial solving the mapping and localization problems with accuracy and acceptable computational cost. The use of omnidirectional vision systems has emerged as a robust choice thanks to the big quantity of information they can extract from the environment. The images must be processed to obtain relevant information that permits solving robustly the mapping and localization problems. The classical frameworks to address this problem are based on the extraction, description and tracking of local features or landmarks. However, more recently, a new family of methods has emerged as a robust alternative in mobile robotics. It consists of describing each image as a whole, what leads to conceptually simpler algorithms. While methods based on local features have been extensively studied and compared in the literature, those based on global appearance still merit a deep study to uncover their performance. In this work, a comparative evaluation of six global-appearance description techniques in localization tasks is carried out, both in terms of accuracy and computational cost. Some sets of images captured in a real environment are used with this aim, including some typical phenomena such as changes in lighting conditions, visual aliasing, partial occlusions and noise. |
| first_indexed | 2024-03-10T11:31:23Z |
| format | Article |
| id | doaj.art-1d0e0b73586e4014a9ec333365f0e3f5 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T11:31:23Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1d0e0b73586e4014a9ec333365f0e3f52023-11-21T19:10:09ZengMDPI AGSensors1424-82202021-05-012110332710.3390/s21103327The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation RetrievalVicente Román0Luis Payá1Adrián Peidró2Mónica Ballesta3Oscar Reinoso4Department of Systems Engineering and Automation, Miguel Hernández University, 03202 Alicante, SpainDepartment of Systems Engineering and Automation, Miguel Hernández University, 03202 Alicante, SpainDepartment of Systems Engineering and Automation, Miguel Hernández University, 03202 Alicante, SpainDepartment of Systems Engineering and Automation, Miguel Hernández University, 03202 Alicante, SpainDepartment of Systems Engineering and Automation, Miguel Hernández University, 03202 Alicante, SpainOver the last few years, mobile robotics has experienced a great development thanks to the wide variety of problems that can be solved with this technology. An autonomous mobile robot must be able to operate in a priori unknown environments, planning its trajectory and navigating to the required target points. With this aim, it is crucial solving the mapping and localization problems with accuracy and acceptable computational cost. The use of omnidirectional vision systems has emerged as a robust choice thanks to the big quantity of information they can extract from the environment. The images must be processed to obtain relevant information that permits solving robustly the mapping and localization problems. The classical frameworks to address this problem are based on the extraction, description and tracking of local features or landmarks. However, more recently, a new family of methods has emerged as a robust alternative in mobile robotics. It consists of describing each image as a whole, what leads to conceptually simpler algorithms. While methods based on local features have been extensively studied and compared in the literature, those based on global appearance still merit a deep study to uncover their performance. In this work, a comparative evaluation of six global-appearance description techniques in localization tasks is carried out, both in terms of accuracy and computational cost. Some sets of images captured in a real environment are used with this aim, including some typical phenomena such as changes in lighting conditions, visual aliasing, partial occlusions and noise.https://www.mdpi.com/1424-8220/21/10/3327omnidirectional imagingglobal appearance descriptionlocalizationimage retrievalrelative orientationfourier signature |
| spellingShingle | Vicente Román Luis Payá Adrián Peidró Mónica Ballesta Oscar Reinoso The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval Sensors omnidirectional imaging global appearance description localization image retrieval relative orientation fourier signature |
| title | The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval |
| title_full | The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval |
| title_fullStr | The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval |
| title_full_unstemmed | The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval |
| title_short | The Role of Global Appearance of Omnidirectional Images in Relative Distance and Orientation Retrieval |
| title_sort | role of global appearance of omnidirectional images in relative distance and orientation retrieval |
| topic | omnidirectional imaging global appearance description localization image retrieval relative orientation fourier signature |
| url | https://www.mdpi.com/1424-8220/21/10/3327 |
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