Holistic visual navigation methods are an emerging alternative to the ubiquitous feature-based methods. Holistic methods match entire images pixel-wise instead of extracting and comparing local feature descriptors. In this paper we investigate which pixel-wise distance measures are most suitable for the holistic min-warping method with respect to illumination invariance. Two novel approaches are presented: tunable distance measures-weighted combinations of illumination-invariant and illumination-sensitive terms-and two novel forms of "sequential" correlation which are only invariant against intensity shifts but not against multiplicative changes. Navigation experiments on indoor image databases collected at the same locations but under different conditions of illumination demonstrate that tunable distance measures perform optimally by mixing their two portions instead of using the illumination-invariant term alone. Sequential correlation performs best among all tested methods, and as well but much faster in an approximated form. Mixing with an additional illumination-sensitive term is not necessary for sequential correlation. We show that min-warping with approximated sequential correlation can successfully be applied to visual navigation of cleaning robots.
Abstract:Place recognition is an essential component of autonomous mobile robot navigation. It is used for loop-closure detection to maintain consistent maps, or to localize the robot along a route, or in kidnapped-robot situations. Camera sensors provide rich visual information for this task. We compare different approaches for visual place recognition: holistic methods (visual compass and warping), signature-based methods (using Fourier coefficients or feature descriptors (able for binary-appearance loop-closure evaluation, ABLE)), and feature-based methods (fast appearance-based mapping, FabMap). As new contributions we investigate whether warping, a successful visual homing method, is suitable for place recognition. In addition, we extend the well-known visual compass to use multiple scale planes, a concept also employed by warping. To achieve tolerance against changing illumination conditions, we examine the NSAD distance measure (normalized sum of absolute differences) on edge-filtered images. To reduce the impact of illumination changes on the distance values, we suggest to compute ratios of image distances to normalize these values to a common range. We test all methods on multiple indoor databases, as well as a small outdoor database, using images with constant or changing illumination conditions. ROC analysis (receiver-operator characteristics) and the metric distance between best-matching image pairs are used as evaluation measures. Most methods perform well under constant illumination conditions, but fail under changing illumination. The visual compass using the NSAD measure on edge-filtered images with multiple scale planes, while being slower than signature methods, performs best in the latter case.
Summary Local visual homing methods are a family of algorithms for visually guided navigation on mobile robots. Within this family, the so‐called min‐warping algorithm yields very precise results but is rather compute‐intensive. For this reason, we developed several implementations of this algorithm for different parallel hardware architectures (multi‐core CPUs with SIMD extensions, graphics processing units (GPUs), field‐programmable gate array) to arrive at a fast and energy‐efficient solution which is suited for real‐time performance on mobile platforms with limited battery capacity. Because the min‐warping algorithm is also well suited as a general benchmark, we carried out a comprehensive comparison study which includes both speed and real‐power measurements and covers both low‐power processors and high‐end devices. Our findings suggest that field‐programmable gate arrays offer the most energy‐efficient platform for min‐warping in the area of low‐power processors, while GPUs take the lead in the area of high‐end devices. However, as soon as the full capabilities of modern CPUs (like vector execution units and multiple hardware threads) are used, the speedup advantage of GPUs goes down to the single digit range. Copyright © 2016 John Wiley & Sons, Ltd.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.