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Pregled bibliografske jedinice broj: 807546

Evaluation of Color and Texture Descriptors for Matching of Planar Surfaces in Global Localization Scheme


Filko, Damir; Cupec, Robert; Nyarko, Emmanuel Karlo
Evaluation of Color and Texture Descriptors for Matching of Planar Surfaces in Global Localization Scheme // Robotics and autonomous systems, 80 (2016), 55-68 doi:10.1016/j.robot.2016.03.007 (međunarodna recenzija, članak, znanstveni)


Naslov
Evaluation of Color and Texture Descriptors for Matching of Planar Surfaces in Global Localization Scheme

Autori
Filko, Damir ; Cupec, Robert ; Nyarko, Emmanuel Karlo

Izvornik
Robotics and autonomous systems (0921-8890) 80 (2016); 55-68

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
3D planar features ; color ; texture ; global localization ; place recognition

Sažetak
This paper presents a systematic study about the applicability of color/texture descriptors in a global localization system based on planar surface segments. Two comprehensive experiments regarding matching of planar surface segments and robot pose hypothesis evaluation were conducted. The experiments show that using color/texture descriptors to prune potential surface pairs in the initial correspondence phase and to provide additional information in the hypothesis evaluation phase of a feature-based localization scheme can result in considerable speedup of the localization process and help distinguish between geometrically similar places. An experimental benchmark which enables researchers to evaluate the performance of color and texture descriptors in the context of mobile robot localization based on planar surface segments is presented.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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