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Paper Abstract and Keywords
Presentation 2014-03-06 13:55
Geomorphological Feature Extraction Based on Geometric Context and Self-Localization
Yoshihiro Minamida, Kota Aoki, Hiroshi Nagahashi (Titech) IMQ2013-42 IE2013-151 MVE2013-80
Abstract (in Japanese) (See Japanese page) 
(in English) Self-localization from camera images is an important technology for mobile robot’s sensing. Detecting landmark of which position is known and 3D structure estimation from detected lines are utilized at prior works. These method, however, have constraints on photographic condition or structure of subjects. Our method estimates geomorphological features from an image without any constraint on subjects. In our method, we utilize Geometric Context that calculates the confidence factor of geometric classes from image features. We estimate a point on a map by matching geomorphological features calculated both from images and the map. The experimental result shows that our method could estimate a point to within 10 meters of the ground truth location.
Keyword (in Japanese) (See Japanese page) 
(in English) Self-localization / Geometric Context / Geomorphological feature / Monocular image / / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 469, IE2013-151, pp. 93-96, March 2014.
Paper # IE2013-151 
Date of Issue 2014-02-27 (IMQ, IE, MVE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF IMQ2013-42 IE2013-151 MVE2013-80

Conference Information
Committee CQ MVE IE IMQ CEA  
Conference Date 2014-03-06 - 2014-03-07 
Place (in Japanese) (See Japanese page) 
Place (in English) Beppu International Convention Center 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Five senses media, Food media, Social media, Multimedia, Virtual Environment, Image encoding, Cloud, Mobile, Network, and their quality and reliability，General area 
Paper Information
Registration To IE 
Conference Code 2014-03-CQ-MVE-IE-IMQ 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Geomorphological Feature Extraction Based on Geometric Context and Self-Localization 
Sub Title (in English)  
Keyword(1) Self-localization  
Keyword(2) Geometric Context  
Keyword(3) Geomorphological feature  
Keyword(4) Monocular image  
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1st Author's Name Yoshihiro Minamida  
1st Author's Affiliation Tokyo Institute of Technology (Titech)
2nd Author's Name Kota Aoki  
2nd Author's Affiliation Tokyo Institute of Technology (Titech)
3rd Author's Name Hiroshi Nagahashi  
3rd Author's Affiliation Tokyo Institute of Technology (Titech)
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Speaker Author-1 
Date Time 2014-03-06 13:55:00 
Presentation Time 25 minutes 
Registration for IE 
Paper # IMQ2013-42, IE2013-151, MVE2013-80 
Volume (vol) vol.113 
Number (no) no.468(IMQ), no.469(IE), no.470(MVE) 
Page pp.93-96 
#Pages 4 
Date of Issue 2014-02-27 (IMQ, IE, MVE) 

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