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Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images
This paper presents the novel paradigm of a global localization method motivated by human visual systems (HVSs). HVSs actively use the information of the object recognition results for self-position localization and for viewing direction. The proposed localization paradigm consisted of three parts:...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Hindawi Publishing Corporation
2015
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4589637/ https://www.ncbi.nlm.nih.gov/pubmed/26457323 http://dx.doi.org/10.1155/2015/465290 |
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author | Kim, Sungho Shim, Min-Sheob |
author_facet | Kim, Sungho Shim, Min-Sheob |
author_sort | Kim, Sungho |
collection | PubMed |
description | This paper presents the novel paradigm of a global localization method motivated by human visual systems (HVSs). HVSs actively use the information of the object recognition results for self-position localization and for viewing direction. The proposed localization paradigm consisted of three parts: panoramic image acquisition, multiple object recognition, and grid-based localization. Multiple object recognition information from panoramic images is utilized in the localization part. High-level object information was useful not only for global localization, but also for robot-object interactions. The metric global localization (position, viewing direction) was conducted based on the bearing information of recognized objects from just one panoramic image. The feasibility of the novel localization paradigm was validated experimentally. |
format | Online Article Text |
id | pubmed-4589637 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2015 |
publisher | Hindawi Publishing Corporation |
record_format | MEDLINE/PubMed |
spelling | pubmed-45896372015-10-11 Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images Kim, Sungho Shim, Min-Sheob ScientificWorldJournal Research Article This paper presents the novel paradigm of a global localization method motivated by human visual systems (HVSs). HVSs actively use the information of the object recognition results for self-position localization and for viewing direction. The proposed localization paradigm consisted of three parts: panoramic image acquisition, multiple object recognition, and grid-based localization. Multiple object recognition information from panoramic images is utilized in the localization part. High-level object information was useful not only for global localization, but also for robot-object interactions. The metric global localization (position, viewing direction) was conducted based on the bearing information of recognized objects from just one panoramic image. The feasibility of the novel localization paradigm was validated experimentally. Hindawi Publishing Corporation 2015 2015-09-17 /pmc/articles/PMC4589637/ /pubmed/26457323 http://dx.doi.org/10.1155/2015/465290 Text en Copyright © 2015 S. Kim and M.-S. Shim. https://creativecommons.org/licenses/by/3.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Research Article Kim, Sungho Shim, Min-Sheob Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images |
title | Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images |
title_full | Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images |
title_fullStr | Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images |
title_full_unstemmed | Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images |
title_short | Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images |
title_sort | biologically motivated novel localization paradigm by high-level multiple object recognition in panoramic images |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4589637/ https://www.ncbi.nlm.nih.gov/pubmed/26457323 http://dx.doi.org/10.1155/2015/465290 |
work_keys_str_mv | AT kimsungho biologicallymotivatednovellocalizationparadigmbyhighlevelmultipleobjectrecognitioninpanoramicimages AT shimminsheob biologicallymotivatednovellocalizationparadigmbyhighlevelmultipleobjectrecognitioninpanoramicimages |