oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Similarity criteria: evaluating perceptual change for visual localization
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-3788-499X
2019 (English)In: 2019 European Conference on Mobile Robots (ECMR), IEEE, 2019, article id 8870962Conference paper, Published paper (Refereed)
Abstract [en]

Visual localization systems may operate in environments that exhibit considerable perceptual change. This paper proposes a method of evaluating the degree of appearance change using a similarity criteria based on comparing the subspaces spanned by the principal components of the observed image descriptors. We propose two criteria - θmin measures the minimum angle between subspaces and Stotal measures the total similarity between the subspaces. These criteria are introspective - they evaluate the performance of the image descriptor using nothing more than the image descriptor itself. Furthermore, we demonstrate that these similarity criteria reflect the ability of the image descriptor to perform visual localization successfully, thus allowing a measure of quality control on the localization output.

Place, publisher, year, edition, pages
IEEE, 2019. article id 8870962
National Category
Computer Systems
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-79686DOI: 10.1109/ECMR.2019.8870962Scopus ID: 2-s2.0-85074423644ISBN: 978-1-7281-3605-9 (electronic)OAI: oai:DiVA.org:oru-79686DiVA, id: diva2:1390716
Conference
ECMR 2019 : 9th European Conference on Mobile Robots, Prague, Czech Republic, 4-6 Sept., 2019
Available from: 2020-02-03 Created: 2020-02-03 Last updated: 2020-02-04Bibliographically approved

Open Access in DiVA

Similarity criteria: Evaluating perceptual change for visual localization(2856 kB)40 downloads
File information
File name FULLTEXT01.pdfFile size 2856 kBChecksum SHA-512
e9537022c0203e3555263d35c674d087b8918c66f432a4ae1611dff726cb8d2ebd620b3fa92b29f3e998a330bcba2d9ab62292cfb3dd2139a65bb3a0a3978cf7
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Authority records BETA

Lowry, Stephanie

Search in DiVA

By author/editor
Lowry, Stephanie
By organisation
School of Science and Technology
Computer Systems

Search outside of DiVA

GoogleGoogle Scholar
Total: 40 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 46 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf