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Color image retrieval techniques for a global localization of an indoor mobile robot

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In this paper we propose a both spatial and colorimetric distance D for a two dimensional color pallet built from the baker's transformation. The baker's transformation provides a quantization of the image into a space where colors that are nearby in the original space are also nearby in the output space, thereby providing dimensionality reduction and invariance to minor changes in the image. Whereas, the distance D provides for partial invariance to translation, sight point small changes and scale factor. Our feature is used in an image retrieval process that has to help a missing robot in an indoor environment. We built a structured image database corresponding to the flat where the robot works. When the robot is lost, it takes an image of its environment that we call request image and the system looks for the closest image in the database witch indicates its position (room and orientation). A hierarchical approach is then conceived by describing in the off line phase each room with a color feature. In a first search phase, we eliminate rooms whose colors are far from those of the request image and then we achieve the search by our distance D. Results obtained with this approach are better than those of the classical color histograms.
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Document Type: Research Article

Publication date: January 1, 2006

More about this publication?
  • Started in 2002 and merged with the Color and Imaging Conference (CIC) in 2014, CGIV covered a wide range of topics related to colour and visual information, including color science, computational color, color in computer graphics, color reproduction, volor vision/psychophysics, color image quality, color image processing, and multispectral color science. Drawing papers from researchers, scientists, and engineers worldwide, DGIV offered attendees a unique experience to share with colleagues in industry and academic, and on national and international standards committees. Held every year in Europe, DGIV papers were more academic in their focus and had high student participation rates.

    Please note: For purposes of its Digital Library content, IS&T defines Open Access as papers that will be downloadable in their entirety for free in perpetuity. Copyright restrictions on papers vary; see individual papers for details.

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