A Novel Image Similarity Measure for Place Recognition in Visual Robotic Navigation

  • Juan Cao
  • Frédéric Labrosse
  • Hannah Dee
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

Abstract

In this work we tackle the issue of visually recognising a place without any prior knowledge of its position, even in a world where the same place can look different or many places can look identical.

To achieve a fast and robust image similarity measure for place recognition, we use the concept of quadtree decomposition combined with a number of standard image distance measures to create a novel image similarity method. Unlike the majority of current image comparison methods that use feature extraction and matching, our approach is a direct pixel-wise comparison of two images [1] gaining robustness through the incorporation of the quadtree concept. Quadtrees not only provide a noise resistant, fast, and easy to use comparison method, but also allow us to identify those image regions that genuinely represent changes within the environment.

References

  1. 1.
    Labrosse, F.: Short and long-range visual navigation using warped panoramic images. Robotics and Autonomous Systems 55(9), 675–684 (2007)CrossRefGoogle Scholar
  2. 2.
    Labrosse, F.: The visual compass: Performance and limitations of an appearance-based method. Journal of Field Robotics 23(10), 913–941 (2006)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Juan Cao
    • 1
  • Frédéric Labrosse
    • 1
  • Hannah Dee
    • 1
  1. 1.Department of Computer ScienceAberystwyth UniversityUnited Kingdom

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