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Robust localization using the eigenspace of spinning-images

Matjaž Jogan and Aleš Leonardis (2000) Robust localization using the eigenspace of spinning-images. In: IEEE Workshop on Omnidirectional Vision, Hilton Head Island, South Carolina.

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    Under in-plane rotations of a panoramic camera, the information content of a panoramic image is, in general, preserved. However, different representations that can be derived have important implications on further processing, e.g. for view-based localization. In this paper we discuss several approaches that have been taken and evaluate them from different points-of-view, in particular, we argue that most of them are not suitable for robust localization under partially occluded views. Thus, we propose a representation - eigenspace of spinning-images - which enables a straightforward application of the robust estimation of eigenimage coefficients which is directly related to the localization.

    Item Type: Conference or Workshop Item (Paper)
    Keywords: mobile robot localization, omnidirectional vision, eigenspace, visual learning and recognition
    Language of Content: English
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    http://www.cobiss.si/scripts/cobiss?command=search&base=50070&select=(id=1914452)Alternative location
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Divisions: Faculty of Computer and Information Science > Computer Vision Laboratory
    Item ID: 48
    Date Deposited: 28 Feb 2003
    Last Modified: 12 Dec 2013 14:24
    URI: http://eprints.fri.uni-lj.si/id/eprint/48

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