Performance evaluation of a vertical line descriptor for omnidirectional images

— In robotics, vertical lines have been always very useful for autonomous robot localization and navigation in structured environments. This paper presents a robust method for matching vertical lines in omnidirectional images. Matching robustness is achieved by creating a descriptor which is very distinctive and is invariant to rotation and slight changes of illumination. We characterize the performance of the descriptor on a large image dataset by taking into account the sensitiveness to the different parameters of the descriptor. The robustness of the approach is also validated through a real navigation experiment with a mobile robot equipped with an omnidirectional camera.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Davide Scaramuzza, Cédric Pradalier, Roland Siegwart
• Keywords: Autonomous Robot Localization, IROS 2008, Omnidirectional Images, Robotics, Vertical Lines