Abstract
Scene understanding is still an important challenge in robotics. In this paper we analyse the impact of several global and local image representations to solve the task of scene recognition. The performance of the different alternatives were compared using a two benchmarks of images: (a) the public database KTH_IDOL and, (b) a base of images taken in the Centro Singular de Investigacion en Tecnoloxias da Informacion (CITIUS), at the University of Santiago de Compostela. The results are promising not only regarding the accuracy achieved, but mostly because we have found a combination of an holistic representation and local information that allows a correct classification of images robust to specular reflections, illumination conditions, changes of viewpoint, etc.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Wu, J., Christensen, H.I., Rehg, J.M.: Visual Place Categorization: Problem, Dataset, and Algorithm. In: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4763–4770 (2009)
Canedo-Rodriguez, A., Alvarez-Santos, V., Santos-Saavedra, D., Gamallo, C., Fernandez-Delgado, M., Iglesias, R., Regueiro, C.V.: Robust multi-sensor system for mobile robot localization. In: Ferrández Vicente, J.M., Álvarez Sánchez, J.R., de la Paz López, F., Toledo Moreo, F.J. (eds.) IWINAC 2013, Part II. LNCS, vol. 7931, pp. 92–101. Springer, Heidelberg (2013)
Drumheller, M.: Mobile robot localization using sonar. IEEE Trans. Pattern Anal. Mach. Intell. 2, 325–332 (1987)
Hahnel, D., Burgard, W., Fox, D., Fishkin, K., Philipose, M.: Mapping and localization with RFID technology. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004. vol. 1, pp. 1015–1020. IEEE, April 2004
Wu, J., Rehg, J.M.: CENTRIST: a visual descriptor for scene categorization. IEEE Trans. Pattern Anal. Mach. Intell. 33(8), 1489–1501 (2011)
Meng, X., Wang, Z., Wu, L.: Building global image features for scene recognition. Pattern Recogn. 45(1), 373–380 (2012)
Lazebnik, S., Schmid, C., Ponce, J.: Beyond Bags of Features: Spatial Pyramid Matching for Recognizing Natural Scene Categories. In: Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2006), pp. 2169–2178 (2006)
Oliva, A.: Gist of the scene. In: Itti, L., Rees, G., Tsotsos, J.K. (eds.) Encyclopedia of Neurobiology of Attention, pp. 251–256. Elsevier, San Diego (2005)
Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (SURF). Comput. Vis. Image Underst. 110(3), 346–359 (2008)
Luo, J., Pronobis, A., Caputo, B., Jensfelt, P.: The KTH-IDOL2 database. Technical report CVAP304, Kungliga Tekniska Hgskolan, CVAP/CAS, October 2006. http://cogvis.nada.kth.se/IDOL/
Martinez-Gomez, J., Garcia-Varea, I., Caputo, B.: Overview of the imageCLEF 2012 robot vision task. In: CLEF 2012 Evaluation Labs and Workshop, Online Working Notes, Rome, Italy, 17–20 September 2012. ISBN: 978-88-904810-3-1
Caputo, B., Müller, H., Martinez-Gomez, J., Villegas, M., Acar, B., Patricia, N., Marvasti, N., Üsküdarlı, S., Paredes, R., Cazorla, M., Garcia-Varea, I., Morell, V.: ImageCLEF 2014: overview and analysis of the results. In: Kanoulas, E., Lupu, M., Clough, P., Sanderson, M., Hall, M., Hanbury, A., Toms, E. (eds.) CLEF 2014. LNCS, vol. 8685, pp. 192–211. Springer, Heidelberg (2014)
Acknowledgment
This work was supported by grants: GPC2013/040 (FEDER), TIN2012-32262.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Santos-Saavedra, D., Pardo, X.M., Iglesias, R., Canedo-Rodríguez, A., Álvarez-Santos, V. (2015). Scene Recognition Invariant to Symmetrical Reflections and Illumination Conditions in Robotics. In: Paredes, R., Cardoso, J., Pardo, X. (eds) Pattern Recognition and Image Analysis. IbPRIA 2015. Lecture Notes in Computer Science(), vol 9117. Springer, Cham. https://doi.org/10.1007/978-3-319-19390-8_15
Download citation
DOI: https://doi.org/10.1007/978-3-319-19390-8_15
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-19389-2
Online ISBN: 978-3-319-19390-8
eBook Packages: Computer ScienceComputer Science (R0)