Fast multiresolution image querying
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
WALRUS: a similarity retrieval algorithm for image databases
SIGMOD '99 Proceedings of the 1999 ACM SIGMOD international conference on Management of data
Summed-area tables for texture mapping
SIGGRAPH '84 Proceedings of the 11th annual conference on Computer graphics and interactive techniques
Robust Localization Using Panoramic View-Based Recognition
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Video Google: A Text Retrieval Approach to Object Matching in Videos
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Memory-Based Self-Localization Using Omnidirectional Images
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
A Visual Vocabulary for Flower Classification
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
IEEE Transactions on Robotics
Bayesian inference in the space of topological maps
IEEE Transactions on Robotics
Wavelet-based texture retrieval using generalized Gaussian density and Kullback-Leibler distance
IEEE Transactions on Image Processing
A MapReduce-based indoor visual localization system using affine invariant features
Computers and Electrical Engineering
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This paper describes a similarity measure for images which can be used in image-based topological localization and topological SLAM problems by autonomous robots with low computational resources. Instead of storing the images in the robot's memory, we propose a compact signature to be extracted from the images. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image and its size is only 170 bytes. We called this signature the DWT-signature. We exploit the frequency and space localization property of the wavelet transform to match the images grabbed by the perspective camera mounted on board the robot and the reference panoramic images built using an automatic image stitching procedure. The proposed signature allows, at the same time, memory saving and fast and efficient similarity calculation. For the topological SLAM problem we also present a simple implementation of a loop-closure detection based on the proposed signature. We report experiments showing the effectiveness of the proposed image similarity measure using two kinds of small robots: an AIBO ERS-7 robot of the RoboCup Araibo Team of the University of Tokyo and a Kondo KHR-1HV humanoid robot of the IAS-Lab of the University of Padua.