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Authors: Yerai Berenguer ; Luis Payá ; Adrian Peidro and Oscar Reinoso

Affiliation: Miguel Hernandez University, Spain

ISBN: 978-989-758-123-6

Keyword(s): Height Estimation, Omnidirectional Images, Radon Transform, Computer Vision.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Cognitive Robotics ; Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: This work presents a height estimation method that uses visual information. This method is based on the global appearance of the scenes. Every omnidirectional scene is described with a global appearance descriptor without any other transformation. This approach is tested with our own image database. This database is generated synthetically based on two different virtual rooms. One of the advantages of generating the images synthetically is that noise or occlusions can be added to test the robustness of the algorithms. This database is formed by a set of omnidirectional images captured from different points of these rooms and at different heights. With these scenes we build the descriptor of each image and we use our method to estimate the relative height of the robot. The experimental results show the effectiveness and the robustness of the method.

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Paper citation in several formats:
Berenguer, Y.; Payá, L.; Peidro, A. and Reinoso, O. (2015). Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 202-209. DOI: 10.5220/0005512302020209

@conference{icinco15,
author={Yerai Berenguer. and Luis Payá. and Adrian Peidro. and Oscar Reinoso.},
title={Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={202-209},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005512302020209},
isbn={978-989-758-123-6},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach
SN - 978-989-758-123-6
AU - Berenguer, Y.
AU - Payá, L.
AU - Peidro, A.
AU - Reinoso, O.
PY - 2015
SP - 202
EP - 209
DO - 10.5220/0005512302020209

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