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Authors: F. Amorós ; L. Payá ; D. Valiente ; A. Gil and O. Reinoso

Affiliation: Miguel Hernández University, Spain

Keyword(s): Multi-scale Analysis, Global-appearance Descriptors, Visual Odometry, Robot Navigation.

Related Ontology Subjects/Areas/Topics: 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 purely visual topologic odometry system for robot navigation. Our system is based on a Multi-Scale analysis that allows us to estimate the relative displacement between consecutive omnidirectional images. This analysis uses global appearance techniques to describe the scenes. The visual odometry system also makes use of global appearance descriptors of panoramic images to estimate the phase lag between consecutive images and to detect loop closures. When a previous mapped area is recognized during the navigation, the system re-estimates the pose of the scenes included in the map, reducing the error of the path. The algorithm is validated using our own database captured in an indoor environment under real dynamic conditions. The results demonstrate that our system permits estimating the path followed by the robot with accuracy comparing to the real route.

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Paper citation in several formats:
Amorós, F.; Payá, L.; Valiente, D.; Gil, A. and Reinoso, O. (2014). Visual Odometry using the Global-appearance of Omnidirectional Images. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 483-490. DOI: 10.5220/0005062604830490

@conference{icinco14,
author={F. Amorós. and L. Payá. and D. Valiente. and A. Gil. and O. Reinoso.},
title={Visual Odometry using the Global-appearance of Omnidirectional Images},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={483-490},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005062604830490},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Visual Odometry using the Global-appearance of Omnidirectional Images
SN - 978-989-758-040-6
IS - 2184-2809
AU - Amorós, F.
AU - Payá, L.
AU - Valiente, D.
AU - Gil, A.
AU - Reinoso, O.
PY - 2014
SP - 483
EP - 490
DO - 10.5220/0005062604830490
PB - SciTePress

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