Abstract
The paradigm for image based localization using panoramic images is elaborated. Panoramic images provide complete views of an environment and their information content does not change if a panoramic camera is rotated. The “zero phase representation” of cylindrical panoramic images, an example of a rotation invariant representation, is constructed for the class of images which have non-zero first harmonic in column direction. It is an invariant and fully discriminative representation. The zero phase representation is demonstrated by an experiment with real data and it is shown that the alternative autocorrelation representation is outperformed.
This work was supported by the MSMT VS96049, GACR 102/97/0480, GACR 102/97/0855, and CVUT IG 309809603 grant.
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Pajdla, T., Hlaváč, V. (1999). Zero Phase Representation of Panoramic Images for Image Based Localization. In: Solina, F., Leonardis, A. (eds) Computer Analysis of Images and Patterns. CAIP 1999. Lecture Notes in Computer Science, vol 1689. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48375-6_66
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DOI: https://doi.org/10.1007/3-540-48375-6_66
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