Abstract
In this paper we propose a new matching method for occupancy grid-maps under the perspective of image registration. Our approach is based on extracting feature descriptors by means of a polar coordinate transformation around highly distinctive points. The proposed method presents a modest computation complexity, although it can find matchings between features reliably and regardless their orientation. Experimental results show the robustness of the estimates even for dynamic environments. Our proposal has important applications into the field of mobile robotics.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Elfes, A.: Using occupancy grids for mobile robot perception and navigation. Computer 22(6), 46–57 (1989)
Gutmann, J., Konolige, K.: Incremental mapping of large cyclic environments. In: Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 318–325 (1999)
Estrada, C., Neira, J., Tardos, J.D.: Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments. IEEE Transactions on Robotics 21(4), 588–596 (2005)
Zitova, B., Flusser, J.: Image registration methods: a survey. Image and Vision Computing 21(11), 977–1000 (2003)
Lowe, D.: Object recognition from local scale-invariant features. In: Proceedings of the Seventh IEEE International Conference on Computer Vision, vol. 2 (1999)
Matas, J., Bılek, P., Chum, O.: Rotational Invariants for Wide-baseline Stereo. In: Proceedings of the Computer Vision Winter Workshop, vol. 2, pp. 296–305 (2002)
Mikolajczyk, K., Schmid, C.: An affine invariant interest point detector. In: Heyden, A., Sparr, G., Nielsen, M., Johansen, P. (eds.) ECCV 2002. LNCS, vol. 2350, pp. 128–142. Springer, Heidelberg (2002)
Shi, J., Tomasi, C.: Good features to track. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 593–600 (1994)
Harris, C., Stephens, M.: A combined corner and edge detector. In: Proceedings of Alvey Vision Conference, vol. 15 (1988)
Besl, P.J., McKay, N.D.: A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence 14(2), 239–256 (1992)
Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM 24(6), 381–395 (1981)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer Berlin Heidelberg
About this paper
Cite this paper
Blanco, JL., Gonzalez, J., Fernandez-Madrigal, JA. (2007). A New Method for Robust and Efficient Occupancy Grid-Map Matching. In: MartÃ, J., BenedÃ, J.M., Mendonça, A.M., Serrat, J. (eds) Pattern Recognition and Image Analysis. IbPRIA 2007. Lecture Notes in Computer Science, vol 4478. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72849-8_25
Download citation
DOI: https://doi.org/10.1007/978-3-540-72849-8_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72848-1
Online ISBN: 978-3-540-72849-8
eBook Packages: Computer ScienceComputer Science (R0)