Pyramidal Multi-level Features for the Robot Vision@ICPR 2010 Challenge

摘要

This paper combines and proposes two novel multilevel spatial pyramidal (sp) features: spELBP (Extended Local Binary Pattern), spELBOP (Extended Local Binary Orientation Pattern) and spHOEE (Histogram of Oriented Edge Energy). These features feed state-of-the-art SVM algorithms for the localization of a robot in indoor environments. Two tasks are associated with the RobotVision@ICPR 2010 Challenge, the first one uses only a frame of stereoscopic images, the second takes into account the dynamics of the robot for improving results. Our scores are ranked 3 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">rd</sup> for Task1 and 1 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">st</sup> for Task2.