Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach

Yerai Berenguer, Luis Payá, Adrian Peidro, Oscar Reinoso

2015

Abstract

This work presents a height estimation method that uses visual information. This method is based on the global appearance of the scenes. Every omnidirectional scene is described with a global appearance descriptor without any other transformation. This approach is tested with our own image database. This database is generated synthetically based on two different virtual rooms. One of the advantages of generating the images synthetically is that noise or occlusions can be added to test the robustness of the algorithms. This database is formed by a set of omnidirectional images captured from different points of these rooms and at different heights. With these scenes we build the descriptor of each image and we use our method to estimate the relative height of the robot. The experimental results show the effectiveness and the robustness of the method.

Paper Citation

in Harvard Style

Berenguer Y., Payá L., Peidro A. and Reinoso O. (2015). Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 202-209. DOI: 10.5220/0005512302020209

in Bibtex Style

@conference{icinco15,
author={Yerai Berenguer and Luis Payá and Adrian Peidro and Oscar Reinoso},
title={Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={202-209},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005512302020209},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach
SN - 978-989-758-123-6
AU - Berenguer Y.
AU - Payá L.
AU - Peidro A.
AU - Reinoso O.
PY - 2015
SP - 202
EP - 209
DO - 10.5220/0005512302020209