A new pyramid-based color image representation for visual localization

  • Authors:

  • C. Urdiales;M. Dominguez;C. de Trazegnies;F. Sandoval

  • Affiliations:

  • Departamento de Tecnología Electrónica, University of Málaga, E.T.S.I. de Telecomunicación, Campus de Teatinos, Málaga 29071, Spain;Departamento de Tecnología Electrónica, University of Málaga, E.T.S.I. de Telecomunicación, Campus de Teatinos, Málaga 29071, Spain;Departamento de Tecnología Electrónica, University of Málaga, E.T.S.I. de Telecomunicación, Campus de Teatinos, Málaga 29071, Spain;Departamento de Tecnología Electrónica, University of Málaga, E.T.S.I. de Telecomunicación, Campus de Teatinos, Málaga 29071, Spain

  • Venue:
  • Image and Vision Computing
  • Year:
  • 2010

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Abstract

This paper presents a new algorithm to extract a color graph from a real image so that it can be efficiently represented in a compact way. The proposal presents two main novelties. First, a new PCA-based color feature vector has been defined. This vector is resistant against illumination changes, noise and microtextures. Second, the image is segmented by means of a fast, hierarchical split and merge algorithm based on a pyramid structure that implicitly provides a color graph. In order to test the suitability of the proposed representation technique, simple localization experiments have been conducted in different real environments.