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

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 36, Issue 2, 2006, Pages 413-422

  Wang, Junqiu ^a   Zha, Hongbin ^a   Cipolla, Roberto ^b  

^a PEKING UNIVERSITY   (China)

^b UNIVERSITY OF CAMBRIDGE   (United Kingdom)

Author keywords

Coarse to fine localization; Scale invariant features; Vector space model; Visual vocabulary

Indexed keywords

ALGORITHMS; COMPUTER VISION; MATHEMATICAL MODELS; MATRIX ALGEBRA; OBJECT RECOGNITION; ROBOTICS; TRACKING (POSITION); VECTORS;

COARSE-TO-FINE LOCALIZATION; INDEXING SCALE-INVARIANT FEATURES; VECTOR SPACE MODEL; VISION-BASED LOCALIZATION; VISUAL VOCABULARY;

MOBILE ROBOTS;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; AUTOMATED PATTERN RECOGNITION; COMPUTER ASSISTED DIAGNOSIS; IMAGE ENHANCEMENT; INFORMATION RETRIEVAL; METHODOLOGY; REPRODUCIBILITY; SENSITIVITY AND SPECIFICITY;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; IMAGE ENHANCEMENT; IMAGE INTERPRETATION, COMPUTER-ASSISTED; INFORMATION STORAGE AND RETRIEVAL; PATTERN RECOGNITION, AUTOMATED; REPRODUCIBILITY OF RESULTS; SENSITIVITY AND SPECIFICITY;

EID: 33644994583     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2005.859085     Document Type: Article

References (30)

1. R. Cipolla and P. J. Giblin, Visual Motion of Curves and Surfaces. Cambridge, U.K.: Cambridge Univ. Press, 2000.
2. A. J. Davidson and D. Murray, "Simultaneous localization and map building using active vision," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 7, pp. 865-880, Jul. 2002.
3. G. N. DeSouza and A. C. Kak, "Vision for mobile robot navigation: A survey," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 2, pp. 237-267, Feb. 2002.
4. T. Goedemé, M. Nuttin, T. Tuytelaarsl, and L. Van Gool, "Markerless computer vision based localization using automatically generated topological maps," in Proc. European Navigation Conf., 2004.
5. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision: Cambridge Univ. Press, 2001.
6. B. Johansson and R. Cipolla, "A system for automatic pose-estimation from a single image in a city scene," in Proc. IASTED Int. Conf. Signal Processing, Pattern Recognition and Applications, 2002.
7. T. Kanungo, D. M. Mount, N. Netanyahu, C. D. Piatko, R. Silverman, and A. Y. Wu, "An efficient k-means clustering algorithm: Analysis and implementation," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 7, pp. 881-892, Jul. 2002.
8. H. Katsura, J. Miura, M. Hild, and Y. Shirai, "A view-based outdoor navigation using object recognition robust to changes of weather and seasons," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, 2003, pp. 2974-2979.
9. J. Kosecka and F. Li, "Vision based topological Markov localization," in Proc. IEEE Intl. Conf. Robotics and Automation, 2004, pp. 1481-1486.
10. D. G. Lowe, "Object recognition from local scale-invariant features," in Proc. Int. Conf. Computer Vision, 1999, pp. 1150-1157.
11. H. P. Luhn, "The automatic creation of literature," IBM J. Res. and Develop., vol. 2, no. 2, pp. 159-165, 1958.
12. K. Mikoljczyk and C. Schmid, "Indexing based on scale-invariant features," in Proc. Int. Conf. Computer Vision, 2001, pp. 525-531.
13. K. Mikoljczyk and C. Schmid, "A performance evaluation of local descriptors," in Proc. Int. Conf. Computer Vision and Pattern Recognition, 2003, pp. 1403-1410.
14. K. Mikoljczyk, T. Tuyelaars, C. Schmid, A. Zisserman, J. Matas, F. Schaffalitzky, T. Kadir, and L. Van Gool, "A comparison of affine region detectors," Int. J. Comput. Vis., to be published.
15. T. Ohno, A. Ohya, and S. Yuta, "Autonomous navigation for mobile robots referring pre-recorded image sequence," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, vol. 2, Nov. 1996, pp. 672-679.
16. S. Rajashekhar, S. Chaudhuri, and V. P. Namboodiri, "Image retrieval based on projective invariance," in Proc. Int. Conf. Image Processing, Singapore, Oct. 2004.
17. T. Salton, B. Gerard, A. Buckley, and F. Chris, "Term weighting approaches in automatic text retrieval," Inform. Process. and Manag., vol. 32, no. 4, pp. 431-443, 1996.
18. S. Se, D. Lowe, and J. Little, "Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks," Int. J. Robot. Res., vol. 21, no. 8, pp. 735-758, Aug. 2002.
19. C. Shmid and R. Mohr, "Local greyvalue invariants for image retrieval," IEEE Trans. Pattern Anal. Mach. Intell., vol. 19, no. 5, pp. 530-534, May 1997.
20. R. Sims and G. Dudek, "Learning environmental features for pose estimation," Image and Vis. Comput., vol. 19, pp. 733-739, 2001.
21. J. Sivic and A. Zisserman, "Video google: A text retrieval approach to object matching in videos," in Proc. Int. Conf. Computer Vision, 2003, pp. 1470-1477.
22. D. M. Squire, W. Müller, H. Müller, and T. Pun, "Content-based query of image databases: Inspirations from text retrieval," Pattern Recognit. Lett., vol. 21, pp. 1193-1198, 2000.
23. T. Starner, B. Schiele, and A. Pentland, "Visual contextual awareness in wearable computing," in Proc. Int. Symp. Wearable Computing, 1998, pp. 50-57.
24. S. Thrun, "Learning metric-topological maps for indoor mobile robot navigation," Artif. Intell., vol. 99, pp. 21-71, 1999.
25. S. Thrun, D. Foxy, W. Burgardz, and F. Dellaert, "Robust Monte Carlo localization for mobile robots," Artif. Intell., vol. 128, no. 1-2, pp. 99-141, 2001.
26. P. H. S. Torr and A. Zisserman, "Mlesac: A new robust estimator with application to estimating image geometry," Comput. Vis. and Image Understand., vol. 78, no. 1, pp. 138-156, 2000.
27. A. Torralba, K. P. Murphy, W. T. Freeman, and M. Rubin, "Context-based vision system for place and object recognition," in Proc. Int. Conf. Computer Vision, 2003, pp. 273-280.
28. J. Wang, R. Cipolla, and H. Zha, "Image-based localization and pose recovery using scale invariant features," in Proc. IEEE Int. Conf. Robotics and Biomimetics, 2004.
29. I. H. Witten, A. Moffat, and T. Bell, Managing Gigabytes: Compressing and Indexing Documents and Images. New York: Morgan Kaufmann, 1999.
30. J. Wolf, W. Burgard, and H. Burkhardt, "Robust vision-based localization for mobile robots using an image retrieval system based on invariant features," in Proc. IEEE Int. Conf. Robotics and Automation, 2002, pp. 359-365.