A Compact Planar-patch Descriptor based on Color

Eduardo Fernández-Moral, Javier González-Jiménez, Vicente Arévalo

2014

Abstract

The representation of the world upon planar patches has proven to be simple, robust and useful for a variety of robotic tasks, including SLAM, autonomous navigation, or scene recognition. In this work we investigate how to incorporate color information into such representation to improve the matching of planar patches while maintaining the model compactness, which is essential for real-time applications. We propose a descriptor based on the dominant color of the patch, which is defined as the center of the biggest cluster in the patch histogram. In the paper, different color spaces and methods for extracting the dominant color are analyzed. We compare this descriptor with a recent proposal (saturated hue based histogram) and provide some conclusions on the trade-off between their descriptiveness and compactness. Finally, we present experimental results showing how our color descriptor can be exploited to increase the efficiency of both: plane-based place recognition and planar patch categorization.

Paper Citation

in Harvard Style

Fernández-Moral E., González-Jiménez J. and Arévalo V. (2014). A Compact Planar-patch Descriptor based on Color . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 296-302. DOI: 10.5220/0005015102960302

in Bibtex Style

@conference{icinco14,
author={Eduardo Fernández-Moral and Javier González-Jiménez and Vicente Arévalo},
title={A Compact Planar-patch Descriptor based on Color},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={296-302},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005015102960302},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Compact Planar-patch Descriptor based on Color
SN - 978-989-758-040-6
AU - Fernández-Moral E.
AU - González-Jiménez J.
AU - Arévalo V.
PY - 2014
SP - 296
EP - 302
DO - 10.5220/0005015102960302