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Authors: Eduardo Fernández-Moral ; Javier González-Jiménez and Vicente Arévalo

Affiliation: Universidad de Málaga, Spain

ISBN: 978-989-758-040-6

Keyword(s): Planar-patches Matching, Color Descriptor, RGBD Sensors, Plane-based Mapping, Place Recognition, Loop Closure.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: The representation of the world upon planar patches has proven to be simple, robust and useful for a variety of robotic tasks, including SLAM, autonomous navigation, or scene recognition. In this work we investigate how to incorporate color information into such representation to improve the matching of planar patches while maintaining the model compactness, which is essential for real-time applications. We propose a descriptor based on the dominant color of the patch, which is defined as the center of the biggest cluster in the patch histogram. In the paper, different color spaces and methods for extracting the dominant color are analyzed. We compare this descriptor with a recent proposal (saturated hue based histogram) and provide some conclusions on the trade-off between their descriptiveness and compactness. Finally, we present experimental results showing how our color descriptor can be exploited to increase the efficiency of both: plane-based place recognition and planar patch c ategorization. (More)

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Paper citation in several formats:
Fernández-Moral, E.; González-Jiménez, J. and Arévalo, V. (2014). A Compact Planar-patch Descriptor based on Color.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 296-302. DOI: 10.5220/0005015102960302

@conference{icinco14,
author={Eduardo Fernández{-}Moral. and Javier González{-}Jiménez. and Vicente Arévalo.},
title={A Compact Planar-patch Descriptor based on Color},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={296-302},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005015102960302},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Compact Planar-patch Descriptor based on Color
SN - 978-989-758-040-6
AU - Fernández-Moral, E.
AU - González-Jiménez, J.
AU - Arévalo, V.
PY - 2014
SP - 296
EP - 302
DO - 10.5220/0005015102960302

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