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. In: UNSPECIFIED pp. 271-274..

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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: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:00
Last Modified: 24 May 2018 01:55