| Presentation | 2014-03-06 Geomorphological Feature Extraction Based on Geometric Context and Self-Localization Yoshihiro MINAMIDA, Kota AOKI, Hiroshi NAGAHASHI, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Self-localization from camera images is an important technology for mobile robot's sensing. Detecting landmark of which position is known and 3D structure estimation from detected lines are utilized at prior works. These method, however, have constraints on photographic condition or structure of subjects. Our method estimates geomorphological features from an image without any constraint on subjects. In our method, we utilize Geometric Context that calculates the confidence factor of geometric classes from image features. We estimate a point on a map by matching geomorphological features calculated both from images and the map. The experimental result shows that our method could estimate a point to within 10 meters of the ground truth location. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Self-Localization / Geometric Context / Geomorphological feature / Monocular Image |
| Paper # | IMQ2013-42,IE2013-151,MVE2013-80 |
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| Conference Information | |
| Committee | MVE |
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| Conference Date | 2014/2/27(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Media Experience and Virtual Environment (MVE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Geomorphological Feature Extraction Based on Geometric Context and Self-Localization |
| Sub Title (in English) | |
| Keyword(1) | Self-Localization |
| Keyword(2) | Geometric Context |
| Keyword(3) | Geomorphological feature |
| Keyword(4) | Monocular Image |
| 1st Author's Name | Yoshihiro MINAMIDA |
| 1st Author's Affiliation | Graduate school of Science and Engineering, Tokyo Institute of Technology() |
| 2nd Author's Name | Kota AOKI |
| 2nd Author's Affiliation | Imaging Science and Engineering Laboratory, Tokyo Institute of Technology |
| 3rd Author's Name | Hiroshi NAGAHASHI |
| 3rd Author's Affiliation | Imaging Science and Engineering Laboratory, Tokyo Institute of Technology |
| Date | 2014-03-06 |
| Paper # | IMQ2013-42,IE2013-151,MVE2013-80 |
| Volume (vol) | vol.113 |
| Number (no) | 470 |
| Page | pp.pp.- |
| #Pages | 4 |
| Date of Issue | |