Matching Image Sequences using Mathematical Programming: Visual Localization Applications
This paper proposes a new visual localization algorithm that utilizes the visual route map to localize the agent. The sequence of the current and past images is matched to the map, i.e. the reference image sequence, to produce the best match of the current image. The image sequence matching is achie...
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ftdoajarticles:oai:doaj.org/article:3b6203d125e34af0b57e11172f63e995 2023-05-15T17:24:40+02:00 Matching Image Sequences using Mathematical Programming: Visual Localization Applications Abdul Hafiz ABDULHAFIZ 2020-04-01T00:00:00Z https://doaj.org/article/3b6203d125e34af0b57e11172f63e995 EN eng Akdeniz University https://dergipark.org.tr/tr/pub/ijeas/issue/54727/694523 https://doaj.org/toc/1309-0267 1309-0267 https://doaj.org/article/3b6203d125e34af0b57e11172f63e995 International Journal of Engineering and Applied Sciences, Vol 12, Iss 1, Pp 1-14 (2020) dynamic programming dynamic time warping visual localization Engineering (General). Civil engineering (General) TA1-2040 article 2020 ftdoajarticles 2023-02-19T01:33:48Z This paper proposes a new visual localization algorithm that utilizes the visual route map to localize the agent. The sequence of the current and past images is matched to the map, i.e. the reference image sequence, to produce the best match of the current image. The image sequence matching is achieved by measuring the similarity between the two image sequences using the dynamic time warping (DTW) algorithm. The DTW algorithm employs Dynamic Programming (DP) to calculate the distance (the cost function) between the two image sequences. Consequently, the output of the alignment process is an optimal match of each image in the current image sequence to an image in the reference one. Our proposed DTW matching algorithm is suitable to be used with a wide variety of engineered features, they are SIFT, HOG, LDP in particular. The proposed DTW algorithm is compared to other recognition algorithms like Support Vector Machine (SVM) and Binary- appearance Loop-closure (ABLE) algorithm. The datasets used in the experiments are challenging and benchmarks, they are commonly used in the literature of the visual localization. These datasets are the” Garden point”, “St. Lucia”, and “Nordland”. The experimental observations have proven that the proposed technique can significantly improve the performance of all the used descriptors, i.e, SIFT, HOG, and LDB as compared to its individual performance. In addition, it was able to the SVM and ABLE localization algorithm. Article in Journal/Newspaper Nordland Nordland Nordland Directory of Open Access Journals: DOAJ Articles |
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Open Polar |
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Directory of Open Access Journals: DOAJ Articles |
op_collection_id |
ftdoajarticles |
language |
English |
topic |
dynamic programming dynamic time warping visual localization Engineering (General). Civil engineering (General) TA1-2040 |
spellingShingle |
dynamic programming dynamic time warping visual localization Engineering (General). Civil engineering (General) TA1-2040 Abdul Hafiz ABDULHAFIZ Matching Image Sequences using Mathematical Programming: Visual Localization Applications |
topic_facet |
dynamic programming dynamic time warping visual localization Engineering (General). Civil engineering (General) TA1-2040 |
description |
This paper proposes a new visual localization algorithm that utilizes the visual route map to localize the agent. The sequence of the current and past images is matched to the map, i.e. the reference image sequence, to produce the best match of the current image. The image sequence matching is achieved by measuring the similarity between the two image sequences using the dynamic time warping (DTW) algorithm. The DTW algorithm employs Dynamic Programming (DP) to calculate the distance (the cost function) between the two image sequences. Consequently, the output of the alignment process is an optimal match of each image in the current image sequence to an image in the reference one. Our proposed DTW matching algorithm is suitable to be used with a wide variety of engineered features, they are SIFT, HOG, LDP in particular. The proposed DTW algorithm is compared to other recognition algorithms like Support Vector Machine (SVM) and Binary- appearance Loop-closure (ABLE) algorithm. The datasets used in the experiments are challenging and benchmarks, they are commonly used in the literature of the visual localization. These datasets are the” Garden point”, “St. Lucia”, and “Nordland”. The experimental observations have proven that the proposed technique can significantly improve the performance of all the used descriptors, i.e, SIFT, HOG, and LDB as compared to its individual performance. In addition, it was able to the SVM and ABLE localization algorithm. |
format |
Article in Journal/Newspaper |
author |
Abdul Hafiz ABDULHAFIZ |
author_facet |
Abdul Hafiz ABDULHAFIZ |
author_sort |
Abdul Hafiz ABDULHAFIZ |
title |
Matching Image Sequences using Mathematical Programming: Visual Localization Applications |
title_short |
Matching Image Sequences using Mathematical Programming: Visual Localization Applications |
title_full |
Matching Image Sequences using Mathematical Programming: Visual Localization Applications |
title_fullStr |
Matching Image Sequences using Mathematical Programming: Visual Localization Applications |
title_full_unstemmed |
Matching Image Sequences using Mathematical Programming: Visual Localization Applications |
title_sort |
matching image sequences using mathematical programming: visual localization applications |
publisher |
Akdeniz University |
publishDate |
2020 |
url |
https://doaj.org/article/3b6203d125e34af0b57e11172f63e995 |
genre |
Nordland Nordland Nordland |
genre_facet |
Nordland Nordland Nordland |
op_source |
International Journal of Engineering and Applied Sciences, Vol 12, Iss 1, Pp 1-14 (2020) |
op_relation |
https://dergipark.org.tr/tr/pub/ijeas/issue/54727/694523 https://doaj.org/toc/1309-0267 1309-0267 https://doaj.org/article/3b6203d125e34af0b57e11172f63e995 |
_version_ |
1766115776778993664 |