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Image-based self-localization by means of zero phase representation in panoramic images

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Advances in Pattern Recognition — ICAPR 2001 (ICAPR 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2013))

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Abstract

The paradigm - 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, J04/98:210000012 and GACR 102/00/1679 grants.

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Author information

Authors and Affiliations

  1. Center for Machine Perception, Faculty of Electrical Engineering, Czech Technical University, Karlovo náměstí 13, 121 35, Prague 2, Czech Republic

    Tomáš Pajdla & Václav Hlaváč

Authors
  1. Tomáš Pajdla
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  2. Václav Hlaváč
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Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Exeter, EX4 4PT, Exeter, UK

    Sameer Singh

  2. Computational Intelligence Group, Tuiuti University of Parana, Curitiba, Brazil

    Nabeel Murshed

  3. Institute of Computer Aided Automation PRIP-Group 1832, Vienna University of Technology, Favoritenstr. 9/2/4, 1040, Wien, Austria

    Walter Kropatsch

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© 2001 Springer-Verlag Berlin Heidelberg

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Pajdla, T., Hlaváč, V. (2001). Image-based self-localization by means of zero phase representation in panoramic images. In: Singh, S., Murshed, N., Kropatsch, W. (eds) Advances in Pattern Recognition — ICAPR 2001. ICAPR 2001. Lecture Notes in Computer Science, vol 2013. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44732-6_3

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  • DOI: https://doi.org/10.1007/3-540-44732-6_3

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-41767-5

  • Online ISBN: 978-3-540-44732-0

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