Coarse-to-fine vision-based localization by indexing scale-Invariant features

This paper presents a novel coarse-to-fine global localization approach inspired by object recognition and text retrieval techniques. Harris-Laplace interest points characterized by scale-invariant transformation feature descriptors are used as natural landmarks. They are indexed into two databases:...

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Bibliographic Details
Published in:	IEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 36; no. 2; pp. 413 - 422
Main Authors:	Junqiu Wang, Hongbin Zha, Cipolla, R.
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.04.2006
Subjects:	Algorithms Artificial Intelligence Coarse-to-fine localization Computer vision Cybernetics Detectors Image Enhancement - methods Image Interpretation, Computer-Assisted - methods Image matching Indexing Information Storage and Retrieval - methods Layout Lighting Localization Mathematical models Mobile robots Object recognition Orbital robotics Pattern Recognition, Automated - methods Position (location) Reproducibility of Results scale-invariant features Sensitivity and Specificity Spatial databases vector space model visual vocabulary
ISSN:	1083-4419
Online Access:	Get full text
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