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Evaluating the Robustness of New Holistic Description Methods in Position Estimation of Mobile Robots

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Informatics in Control, Automation and Robotics (ICINCO 2020)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 793))

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Abstract

In this work, some holistic description methods are evaluated in the framework of a localization task in heterogeneous zones, task that an autonomous robot should be able to perform correctly. The unique source of information is an omnidirectional vision sensor and the work is focused on the use of holistic or global-appearance techniques to describe the visual information. Holistic descriptors consist in obtaining a unique vector that describes globally the image. The goal of the experiments is to check new approaches to build and to handle global descriptors. Previously, the holistic descriptors have been processed without considering the spatial distribution of the information. In contrast, in this work two different new methods are proposed which take the assumption that the most relevant information is on the central rows of the panoramic image. For this reason, in the proposed description methods, the central rows have a higher weight comparing to other zones of the image. The new techniques are compared with the classical method. The experiments are carried out in real environments, with sets of images captured while the robot traversed in different heterogeneous routes. Also, variations of the lighting conditions, people who occlude the scene and changes on the furniture may appear.

Supported by the Spanish Goverment, the Generalitat Valenciana and the FSE.

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Acknowledgements

This work has been supported by the Generalitat Valenciana and the FSE through the grant ACIF/2018/224, by the Spanish Government through the project DPI 2016-78361-R (AEI/FEDER, UE): “Creación de mapas mediante métodos de apariencia visual para la navegación de robots” and by Generalitat Valenciana through the project AICO/2019/031: “Creación de modelos jerárquicos y localización robusta de robots móviles en entornos sociales”.

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Authors and Affiliations

  1. Engineering Systems and Automation Department, Miguel Hernandez University, Elche (Alicante), Spain

    Vicente Román, Luis Payá, Sergio Cebollada, Adrián Peidró & Óscar Reinoso

Authors
  1. Vicente Román
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  2. Luis Payá
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  3. Sergio Cebollada
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  4. Adrián Peidró
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  5. Óscar Reinoso
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Corresponding author

Correspondence to Vicente Román .

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Editors and Affiliations

  1. Ford Research and Advanced Engineering, Dearborn, MI, USA

    Oleg Gusikhin

  2. University Paris-Est Créteil (UPEC), Créteil, France

    Kurosh Madani

  3. University of Reims Champagne-Ardenne, Reims, France

    Janan Zaytoon

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Román, V., Payá, L., Cebollada, S., Peidró, A., Reinoso, Ó. (2022). Evaluating the Robustness of New Holistic Description Methods in Position Estimation of Mobile Robots. In: Gusikhin, O., Madani, K., Zaytoon, J. (eds) Informatics in Control, Automation and Robotics. ICINCO 2020. Lecture Notes in Electrical Engineering, vol 793. Springer, Cham. https://doi.org/10.1007/978-3-030-92442-3_12

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