APPEARANCE-BASED DENSE MAPS CREATION - Comparison of Compression Techniques with Panoramic Images

Luis Payá, Lorenzo Fernández, Óscar Reinoso, Arturo Gil, David Úbeda

2009

Abstract

The visual information captured by omnidirectional systems is very rich and it may be very useful for a robot to create a map of an environment. This map could be composed of several panoramic images taken from different points of view in the environment, and some geometric relationships between them. To carry out any task, the robot must be able to calculate its position and orientation in the environment, comparing his current visual information with the data stored in the map. In this paper we study and compare some approaches to build the map, using appearance-based methods. The most important factor of these approaches is the kind of information to store in order to minimize the computational cost of the operations. We have carried out an exhaustive experimentation to study the amount of memory each technique requires to build the map, and the time consumption to create it and to carry out the localization process inside it. Also, we have tested the accuracy to compute the position and the orientation of a robot in the environment.

Paper Citation

in Harvard Style

Payá L., Fernández L., Reinoso Ó., Gil A. and Úbeda D. (2009). APPEARANCE-BASED DENSE MAPS CREATION - Comparison of Compression Techniques with Panoramic Images . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 250-255. DOI: 10.5220/0002210502500255

in Bibtex Style

@conference{icinco09,
author={Luis Payá and Lorenzo Fernández and Óscar Reinoso and Arturo Gil and David Úbeda},
title={APPEARANCE-BASED DENSE MAPS CREATION - Comparison of Compression Techniques with Panoramic Images},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={250-255},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002210502500255},
isbn={978-989-674-000-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - APPEARANCE-BASED DENSE MAPS CREATION - Comparison of Compression Techniques with Panoramic Images
SN - 978-989-674-000-9
AU - Payá L.
AU - Fernández L.
AU - Reinoso Ó.
AU - Gil A.
AU - Úbeda D.
PY - 2009
SP - 250
EP - 255
DO - 10.5220/0002210502500255