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A vision system for object verification and localization based on local features
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
2001 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 34, no 2-3, p. 83-92Article in journal (Refereed) Published
Abstract [en]

An object verification and localization system should answer the question whether an expected object is present in an image or not, i.e. verification, and if present where it is located. Such a system would be very useful for mobile robots, e.g. for landmark recognition or for the fulfilment of certain tasks. In this paper, we present an object verification and localization system specially adapted to the needs of mobile robots. The object model is based on a collection of local features derived from a small neighbourhood around automatically detected interest points. The learned representation of the object is then matched with the image under consideration. The tests, based on 81 images, showed a very satisfying tolerance to scale changes of up to 50%, to viewpoint variations of 20, to occlusion of up to 80% and to major background changes as well as to local and global illumination changes. The tests also showed that the verification capabilities are very good and that similar objects did not trigger any false verification.

Place, publisher, year, edition, pages
Amsterdam: Elsevier , 2001. Vol. 34, no 2-3, p. 83-92
Keyword [en]
Mobile robots, Computer vision, Feature extraction, Image analysis, Object recognition
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-3352DOI: 10.1016/S0921-8890(00)00113-5ISI: 000168297700003Scopus ID: 2-s2.0-0034831232OAI: oai:DiVA.org:hh-3352DiVA, id: diva2:282024
Available from: 2009-12-18 Created: 2009-12-01 Last updated: 2017-12-12Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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  • Other style
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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