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Global Interior Robot Localisation by a Colour Content Image Retrieval System
2007
EURASIP Journal on Advances in Signal Processing
We propose a new global localisation approach to determine a coarse position of a mobile robot in structured indoor space using colour-based image retrieval techniques. We use an original method of colour quantisation based on the baker's transformation to extract a two-dimensional colour pallet combining as well space and vicinity-related information as colourimetric aspect of the original image. We conceive several retrieving approaches bringing to a specific similarity measure D integrating
doi:10.1155/2008/870492
fatcat:d5mkfyuifrduzij2ix52qhd5ny