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AIIA
2007
Springer

Toward Image-Based Localization for AIBO Using Wavelet Transform

12 years 3 months ago
Toward Image-Based Localization for AIBO Using Wavelet Transform
This paper describes a similarity measure for images to be used in image-based localization for autonomous robots with low computational resources. We propose a novel signature to be extracted from the image and to be stored in memory. The proposed signature allows, at the same time, memory saving and fast similarity calculation. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image. We present experiments showing the effectiveness of the proposed image similarity measure. The used images were collected using the AIBOs ERS-7 of the RoboCup Team Araibo of the University of Tokyo on a RoboCup field, however, the proposed image similarity measure does not use any information on the structure of the environment and do not exploit the peculiar features of the RoboCup environment.
Alberto Pretto, Emanuele Menegatti, Enrico Pagello
Added 07 Jun 2010
Updated 07 Jun 2010
Type Conference
Year 2007
Where AIIA
Authors Alberto Pretto, Emanuele Menegatti, Enrico Pagello, Yoshiaki Jitsukawa, Ryuichi Ueda, Tamio Arai
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