Toward Image-Based Localization for AIBO Using Wavelet Transform

Authors:
Alberto Pretto;Emanuele Menegatti;Enrico Pagello;Yoshiaki Jitsukawa;Ryuichi Ueda;Tamio Arai
Affiliations:
Dept. of Information Engineering, The University of Padua, Italy;Dept. of Information Engineering, The University of Padua, Italy;Dept. of Information Engineering, The University of Padua, Italy and ISIB-CNR corso Stati Uniti, Padua, Italy;The University of Tokyo, Tokyo, Japan;The University of Tokyo, Tokyo, Japan;The University of Tokyo, Tokyo, Japan
Venue:
AI*IA '07 Proceedings of the 10th Congress of the Italian Association for Artificial Intelligence on AI*IA 2007: Artificial Intelligence and Human-Oriented Computing
Year:
2007

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Abstract

This paper describes a similarity measure for images to be used in image-based localization for autonomous robots with low computational resources. We propose a novel signature to be extracted from the image and to be stored in memory. The proposed signature allows, at the same time, memory saving and fast similarity calculation. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image. We present experiments showing the effectiveness of the proposed image similarity measure. The used images were collected using the AIBOs ERS-7 of the RoboCup Team Araibo of the University of Tokyo on a RoboCup field, however, the proposed image similarity measure does not use any information on the structure of the environment and do not exploit the peculiar features of the RoboCup environment.