APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping

Lorenzo Fernández, Luis Payá, Oscar Reinoso, Francisco Amorós

Abstract

In this paper we deal with the problem of map creation and localization of a mobile robot using omnidirectional images. We describe a real-time algorithm for topological mapping, using as input data only a set of images captured by a single omnidirectional camera mounted at a fixed position on the mobile robot. To compute the topological relationships between locations in the map, we use techniques based in the global appearance of the images. When using these methods, it is important to remove redundant information to get an acceptable computational cost when comparing locations. With this aim, we describe each omnidirectional image by a single Fourier descriptor that represents the appearance as well as the relative orientation between images. This algorithm permits computing the relative topological position of a location with respect to the previous one, acting as a visual compass. We have carried out a complete set of experiments to study the validity of the proposed visual odometry and topological mapping and to perform an objective comparison between the results obtained using the robot odometry, our visual odometry and the ground truth. We have also checked the time consumption to carry out the process and the geometrical accuracy obtained comparing to the ground truth.

References

  1. Bay, H., Ess, A., Tuytelaars, T., and Gool, L. V. (2008). Speeded-up robust features (surf). In Comput. Vis. Image Underst.
  2. Fernández, L., Gil, A., Payá, L., and Reinoso, O. (2010). An evaluation of weighting methods for appearancebased monte carlo localization using omnidirectional images. In Proc. of Workshop on Omnidirectional Robot Vision ICRA.
  3. Gil, A., Reinoso, O., Ballesta, M., Juliá, M., and Payá, L. (2010). Estimation of visual maps with a robot network equipped with vision sensors. Sensors.
  4. Menegatti, E., Maeda, T., and Ishiguro, H. (2004a). Imagebased memory for robot navigation using properties of omnidirectional images. Robot. Auton. Syst.
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Paper Citation


in Harvard Style

Fernández L., Payá L., Reinoso O. and Amorós F. (2011). APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 205-210. DOI: 10.5220/0003533602050210


in Bibtex Style

@conference{icinco11,
author={Lorenzo Fernández and Luis Payá and Oscar Reinoso and Francisco Amorós},
title={APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={205-210},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533602050210},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - APPEARANCE-BASED VISUAL ODOMETRY WITH OMNIDIRECTIONAL IMAGES - A Practical Application to Topological Mapping
SN - 978-989-8425-75-1
AU - Fernández L.
AU - Payá L.
AU - Reinoso O.
AU - Amorós F.
PY - 2011
SP - 205
EP - 210
DO - 10.5220/0003533602050210