scholarly journals Multifeature Image Indexing for Robot Localization in Textureless Environments

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 37
Author(s):  
Tran Duc Dung ◽  
Delowar Hossain ◽  
Shin-ichiro Kaneko ◽  
Genci Capi
Keyword(s):  
Image Matching ◽  
Robot Navigation ◽  
Image Indexing ◽  
Mobile Robot Navigation ◽  
Depth Information ◽  
Robot Localization ◽  
Histogram Of Oriented Gradients ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

Robot localization is an important task for mobile robot navigation. There are many methods focused on this issue. Some methods are implemented in indoor and outdoor environments. However, robot localization in textureless environments is still a challenging task. This is because in these environments, the scene appears the same in almost every position. In this work, we propose a method that can localize robots in textureless environments. We use Histogram of Oriented Gradients (HOG) and Speeded Up Robust Feature (SURF) descriptors together with Depth information to form a Depth-HOG-SURF multifeature descriptor, which is later used for image matching. K-means clustering is applied to partition the whole feature into groups that are collectively called visual vocabulary. All the images in the database are encoded using the vocabulary. The experimental results show a good performance of the proposed method.

scholarly journals On the Benefits of Color Information for Feature Matching in Outdoor Environments

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 85
Author(s):  
Annika Hoffmann
Keyword(s):  
Feature Detection ◽  
Feature Matching ◽  
Robot Navigation ◽  
Navigation Systems ◽  
Color Information ◽  
Basic Technique ◽  
Outdoor Environments ◽  
Matching Performance ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

The detection and description of features is one basic technique for many visual robot navigation systems in both indoor and outdoor environments. Matched features from two or more images are used to solve navigation problems, e.g., by establishing spatial relationships between different poses in which the robot captured the images. Feature detection and description is particularly challenging in outdoor environments, and widely used grayscale methods lead to high numbers of outliers. In this paper, we analyze the use of color information for keypoint detection and description. We consider grayscale and color-based detectors and descriptors, as well as combinations of them, and evaluate their matching performance. We demonstrate that the use of color information for feature detection and description markedly increases the matching performance.

scholarly journals Fukuoka datasets for place categorization

2019 ◽  
Vol 38 (5) ◽  
pp. 507-517 ◽  
Author(s):  
Oscar Martinez Mozos ◽  
Kazuto Nakashima ◽  
Hojung Jung ◽  
Yumi Iwashita ◽  
Ryo Kurazume
Keyword(s):  
Urban Areas ◽  
Residential Area ◽  
Coastal Areas ◽  
Depth Information ◽  
Residential Areas ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Robotic Agent ◽  
Indoor And Outdoor

This paper presents several multi-modal 3D datasets for the problem of categorization of places. In this problem. a robotic agent should decide on the type of place/environment where it is located (residential area, forest, etc.) using information gathered by its sensors. In addition to the 3D depth information, the datasets include additional modalities such as RGB or reflectance images. The observations were taken in different indoor and outdoor environments in Fukuoka city, Japan. Outdoor place categories include forests, urban areas, indoor parking, outdoor parking, coastal areas, and residential areas. Indoor place categories include corridors, offices, study rooms, kitchens, laboratories, and toilets. The datasets are available to download at http://robotics.ait.kyushu-u.ac.jp/kyushu_datasets .

scholarly journals Health Effects and Exposure Assessment to Bioaerosols in Indoor and Outdoor Environments

Atmosphere ◽  
2021 ◽  
Vol 12 (3) ◽  
pp. 359
Author(s):  
Ewa Brągoszewska
Keyword(s):  
Exposure Assessment ◽  
Health Effects ◽  
Special Issue ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

The Atmosphere Special Issue entitled “Health Effects and Exposure Assessment to Bioaerosols in Indoor and Outdoor Environments” comprises five original papers [...]

Development of Efficiency in Visual Functioning: Rationale for a Comprehensive Program

1979 ◽  
Vol 73 (4) ◽  
pp. 121-126 ◽  
Author(s):  
Natalie C. Barraga ◽  
Marcia E. Collins
Keyword(s):  
Visual System ◽  
Visual Functioning ◽  
Comprehensive Program ◽  
Outdoor Environments ◽  
Visual Tasks ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

The rationale for a comprehensive program in visual functioning is based upon an assumed interaction between: (a) functions performed by the visual system, (b) developmental visual tasks organized in keeping with perceptual/cognitive milestones, and (c) a variety of indoor and outdoor environments.

Sign in / Sign up

Export Citation Format

Share Document