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dc.contributor.authorJaenal, Alberto
dc.contributor.authorMoreno-Dueñas, Francisco Ángel 
dc.contributor.authorGonzález-Jiménez, Antonio Javier 
dc.date.accessioned2023-03-22T08:07:24Z
dc.date.available2023-03-22T08:07:24Z
dc.date.issued2021-10-31
dc.identifier.citationjaenal2021experimentales_ES
dc.identifier.urihttps://hdl.handle.net/10630/26162
dc.description.abstractImages of a given environment, coded by a holistic image descriptor, produce a manifold that is articulated by the camera pose in such environment. The correct articulation of such Descriptor Manifold (DM) by the camera poses is the cornerstone for precise Appearance-based Localization (AbL), which implies knowing the correspondent descriptor for any given pose of the camera in the environment. Since such correspondences are only given at sample pairs of the DM (the appearance map), some kind of regression must be applied to predict descriptor values at unmapped locations. This is relevant for AbL because this regression process can be exploited as an observation model for the localization task. This paper analyses the influence of a number of parameters involved in the approximation of the DM from the appearance map, including the sampling density, the method employed to regress values at unvisited poses, and the impact of the image content on the DM structure. We present experimental evaluations of diverse setups and propose an image metric based on the image derivatives, which allows us to build appearance maps in the form of grids of variable density. A preliminary use case is presented as an initial step for future research.es_ES
dc.language.isoenges_ES
dc.publisherSpringeres_ES
dc.relation.ispartofseriesLecture Notes in Computer Science;13053
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectVisiónes_ES
dc.subjectProcesado de imágenes - Congresoses_ES
dc.subject.otherVisual appearancees_ES
dc.subject.otherDescriptor manifoldes_ES
dc.titleExperimental Analysis of Appearance Maps as Descriptor Manifolds Approximationses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.identifier.doi10.1007/978-3-030-89131-2_10
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.type.hasVersioninfo:eu-repo/semantics/submittedVersiones_ES


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