A comparative analysis between several methods to describe outdoor panoramic images is presented.Themain objective consists in\nstudying the performance of these methods in the localization process of a mobile robot (vehicle) in an outdoor environment, when\na visual map that contains images acquired from different positions of the environment is available. With this aim, we make use\nof the database provided by Google Street View, which contains spherical panoramic images captured in urban environments and\ntheir GPS position.Themain benefit of using these images resides in the fact that it permits testing any novel localization algorithm\nin countless outdoor environments anywhere in the world and under realistic capture conditions. The main contribution of this\nwork consists in performing a comparative evaluation of different methods to describe images to solve the localization problem\nin an outdoor dense map using only visual information. We have tested our algorithms using several sets of panoramic images\ncaptured in different outdoor environments. The results obtained in the work can be useful to select an appropriate description\nmethod for visual navigation tasks in outdoor environments using the Google Street View database and taking into consideration\nboth the accuracy in localization and the computational efficiency of the algorithm.
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