Efficient Topological Localization Using Orientation Adjacency Coherence Histograms

@article{Wang2006EfficientTL,
  title={Efficient Topological Localization Using Orientation Adjacency Coherence Histograms},
  author={Junqiu Wang and Hongbin Zha and Roberto Cipolla},
  journal={18th International Conference on Pattern Recognition (ICPR'06)},
  year={2006},
  volume={2},
  pages={271-274}
}
This paper describes an efficient vision-based global topological localization approach that uses a coarse-to-fine strategy. Orientation adjacency coherence histogram (OACH), a novel image feature, is proposed to improve the coarse localization. The coarse localization results are taken as inputs for the fine localization which is carried out by matching Harris-Laplace interest points characterized by the SIFT descriptor. Computation of OACHs and interest points is efficient due to the fact… CONTINUE READING

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