Haar invariant signatures and spatial recognition using omnidirectional visual information only

@article{LabbaniIgbida2011HaarIS,
  title={Haar invariant signatures and spatial recognition using omnidirectional visual information only},
  author={Ouiddad Labbani-Igbida and Cyril Charron and El Mustapha Mouaddib},
  journal={Auton. Robots},
  year={2011},
  volume={30},
  pages={333-349}
}
This paper describes a method for spatial representation, place recognition and qualitative self-localization in dynamic indoor environments, based on omnidirectional images. This is a difficult problem because of the perceptual ambiguity of the acquired images, and their weak robustness to noise, geometrical and photometric variations of real world scenes. The spatial representation is built up invariant signatures using Invariance Theory where we suggest to adapt Haar invariant integrals to… CONTINUE READING

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