A new pyramid-based color image representation for visual localization

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摘要

This paper presents a new algorithm to extract a color graph from a real image so that it can be efficiently represented in a compact way. The proposal presents two main novelties. First, a new PCA-based color feature vector has been defined. This vector is resistant against illumination changes, noise and microtextures. Second, the image is segmented by means of a fast, hierarchical split and merge algorithm based on a pyramid structure that implicitly provides a color graph. In order to test the suitability of the proposed representation technique, simple localization experiments have been conducted in different real environments.

论文关键词:Localization,Color histogram,Principal components,Hierarchical segmentation,Spatial graph

论文评审过程:Received 25 May 2006, Revised 9 August 2007, Accepted 27 April 2009, Available online 8 May 2009.

论文官网地址:https://doi.org/10.1016/j.imavis.2009.04.014