CUED Publications database

Efficient topological localization using orientation adjacency coherence histograms

Wang, J and Zha, H and Cipolla, R (2006) Efficient topological localization using orientation adjacency coherence histograms. Proceedings - International Conference on Pattern Recognition, 2. pp. 271-274. ISSN 1051-4651

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Abstract

This paper describes an efficient vision-based global topological localization approach that uses a coarse-to-fine strategy. Orientation Adjacency Coherence Histogram (OACH), a novel image feature, is proposed to improve the coarse localization. The coarse localization results are taken as inputs for the fine localization which is carried out by matching Harris-Laplace interest points characterized by the SIFT descriptor. Computation of OACHs and interest points is efficient due to the fact that these features are computed in an integrated process. We have implemented and tested the localization system in real environments. The experimental results demonstrate that our approach is efficient and reliable in both indoor and outdoor environments. © 2006 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 12:14
Last Modified: 26 Nov 2014 19:06
DOI: 10.1109/ICPR.2006.484