Localização global de robôs móveis através de Redes Neurais Artificiais em imagens omnidirecionais (Global location of mobile robots using Artificial Neural Networks in omnidirectional images)

Jéssyca Almeida Bessa (bessajessyca@gmail.com)2, Darlan Almeida Barroso (darlan_engemec@yahoo.com.br)1, Ajalmar Rêgo da Rocha Neto (ajalmar@gmail.com)2, Auzuir Ripardo de Alexandria (auzuir@gmail.com)2


1Universidade Federal do Ceará
2Instituto Federal do Ceará

This paper appears in: Revista IEEE América Latina

Publication Date: Oct. 2015
Volume: 13,   Issue: 10 
ISSN: 1548-0992


Abstract:
This paper presents a comparison of Mobile Robots localization methods through Artifical Neural Networks in omnidirectional images. After an overview about Mobile Robotics, this work focuses on omnidirectional vision. The motivation for this work is the implementation and comparison of feature extraction techniques that can be used in omnidirectional images seeking invariance to rotation and building descriptors that can be used in Neural Networks. Five feature extraction techniques with their adaptations for omnidirectional image were presented and compared. The results were shown in order to choose the most suitable feature extractor for this application. The feature extractorsare evaluated with respect to time processing and quality of scene description (accuracy of Artificial Neural Network) The results are satisfactory and elect GIST descriptor as the most suitable for the application.

Index Terms:
Mobile robots, Pattern Recognition, omnidirectional images.   


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