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Image Moments for Higher-Level Feature Based Navigation

Dani, Ashwin P. and Panahandeh, Ghazaleh and Chung, Soon-Jo and Hutchinson, Seth (2013) Image Moments for Higher-Level Feature Based Navigation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. IEEE , Piscataway, NJ, pp. 602-609. ISBN 978-1-4673-6358-7.

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This paper presents a novel vision-based localization and mapping algorithm using image moments of region features. The environment is represented using regions, such as planes and/or 3D objects instead of only a dense set of feature points. The regions can be uniquely defined using a small number of parameters; e.g., a plane can be completely characterized by normal vector and distance to a local coordinate frame attached to the plane. The variation of image moments of the regions in successive images can be related to the parameters of the regions. Instead of tracking a large number of feature points, variations of image moments of regions can be computed by tracking the segmented regions or a few feature points on the objects in successive images. A map represented by regions can be characterized using a minimal set of parameters. The problem is formulated as a nonlinear filtering problem. A new discrete-time nonlinear filter based on the state-dependent coefficient (SDC) form of nonlinear functions is presented. It is shown via Monte-Carlo simulations that the new nonlinear filter is more accurate and consistent than EKF by evaluating the root-mean squared error (RMSE) and normalized estimation error squared (NEES).

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2013 IEEE. This project was supported by the Office of Naval Research (ONR) under Award No. N00014-11-1-0088.
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-11-1-0088
Record Number:CaltechAUTHORS:20161123-064941445
Persistent URL:
Official Citation:A. Dani, G. Panahandeh, S. J. Chung and S. Hutchinson, "Image moments for higher-level feature based navigation," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013, pp. 602-609. doi: 10.1109/IROS.2013.6696413
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72272
Deposited By: Ruth Sustaita
Deposited On:23 Nov 2016 16:07
Last Modified:11 Nov 2021 04:59

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