Özet
In this paper, we present an enhanced loop closure method∗ based on image-to-image matching relies on quantized local Zernike moments. In contradistinction to the previous methods, our approach uses additional depth information to extract Zernike moments in local manner. These moments are used to represent holistic shape information inside the image. The moments in complex space that are extracted from both grayscale and depth images are coarsely quantized. In order to find out the similarity between two locations, nearest neighbour (NN) classification algorithm is performed. Exemplary results and the practical implementation case of the method are also given with the data gathered on the testbed using a Kinect. The method is evaluated in three different datasets of different lighting conditions. Additional depth information with the actual image increases the detection rate especially in dark environments. The results are referred as a successful, high-fidelity online method for visual place recognition as well as to close navigation loops, which is a crucial information for the well known simultaneously localization and mapping (SLAM) problem. This technique is also practically applicable because of its low computational complexity, and performing capability in real-time with high loop closing accuracy.
Orijinal dil | İngilizce |
---|---|
Ana bilgisayar yayını başlığı | Proceedings of SPIE-IS and T Electronic Imaging - Intelligent Robots and Computer Vision XXXII |
Ana bilgisayar yayını alt yazısı | Algorithms and Techniques |
Editörler | Juha Roning, David Casasent |
Yayınlayan | SPIE |
ISBN (Elektronik) | 9781628414967 |
DOI'lar | |
Yayın durumu | Yayınlandı - 2015 |
Etkinlik | Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques - San Francisco, United States Süre: 9 Şub 2015 → 10 Şub 2015 |
Yayın serisi
Adı | Proceedings of SPIE - The International Society for Optical Engineering |
---|---|
Hacim | 9406 |
ISSN (Basılı) | 0277-786X |
ISSN (Elektronik) | 1996-756X |
???event.eventtypes.event.conference???
???event.eventtypes.event.conference??? | Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques |
---|---|
Ülke/Bölge | United States |
Şehir | San Francisco |
Periyot | 9/02/15 → 10/02/15 |
Bibliyografik not
Publisher Copyright:© 2015 SPIE-IS&T.