Topological localization using optical flow descriptors
Nourani-Vatani, Navid, Borges, Paulo V K, Roberts, Jonathan M., & Srinivasan, Mandyam V (2011) Topological localization using optical flow descriptors. In IEEE International Conference on Computer Vision Workshops (ICCV Workshops), IEEE, Barcelona, pp. 1030-1037.
We propose a topological localization method based on optical flow information. We analyse the statistical characteristics of the optical flow signal and demonstrate that the flow vectors can be used to identify and describe key locations in the environment. The key locations (nodes) correspond to significant scene changes and depth discontinuities. Since optical flow vectors contain position, magnitude and angle information, for each node, we extract low and high order statistical moments of the vectors and use them as descriptors for that node. Once a database of nodes and their corresponding optical flow features is created, the robot can perform topological localization by using the Mahalanobis distance between the current frame and the database. This is supported by field trials, which illustrate the repeatability of the proposed method for detecting and describing key locations in indoor and outdoor environments in challenging and diverse lighting conditions.
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|Item Type:||Conference Paper|
|Keywords:||Biomedical optical imaging , Optical imaging , Optical imaging, Vectors, Correlation, Cameras , Statistical analysis, Image sequences|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Photodetectors Optical Sensors and Solar Cells (090605)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Deposited On:||29 Aug 2014 00:46|
|Last Modified:||12 Sep 2014 04:18|
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