Authors:
Francisco Amorós
;
Luis Payá
;
Oscar Reinoso
;
David Valiente
and
Lorenzo Fernández
Affiliation:
Miguel Hernández University, Spain
Keyword(s):
Global-appearance Descriptors, Topological Navigation, Altitude Estimation, Zooming, Camera Coordinate Reference System, Orthographic View, Unit Sphere Image.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Features Extraction
;
Image and Video Analysis
;
Image Formation and Preprocessing
;
Image Formation, Acquisition Devices and Sensors
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
Abstract:
In this work, we present a collection of different techniques oriented to the altitude estimation in topological visual navigation tasks. All the methods use descriptors based on the global appearance of the scenes. The techniques are tested using our own experimental database, which is composed of a set of omnidirectional images captured in real lightning conditions including several locations and altitudes. We use different representations of the visual information, including the panoramic and orthographic views, and the projection of the omnidirectional image into the uni sphere. The experimental results demonstrate the effectiveness of some of the techniques.