FRCVTSGDemos < Main

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---+++ Background

A representation that combines depth and
image information is Birchfield and Rangarajan (2007)'s spatial
histogram or spatiogram. 

The image spatiogram extends an
image histogram with a Gaussian distribution per histogram
bin that summarizes the image location for the image pixels
that fall in that histogram bin. However, image spatial
information is related in a rather complication fashion to the
scene spatial information.

We proposed an extension to the spatiogram, called the
Terrain Spatiogram, TSG, in Lyons (2009) in which the image spatial
information is replaced by terrain spatial information. The image below shows a picture of chair on the right. In the middle is a stereo disparity map of the same chair. In the right is a terrain spatiogram of the chair. You can see that it is a 3D object. The origin of the spatiogram is centered with respect to the 3D cloud of data points that make up the chair and the scale is the same. It looks like a 'blurred' version of the chair. 

     <img src="%ATTACHURLPATH%/chair.JPG" alt="chair.JPG" width='688' height='425' />


The advantage of the TSG is that it takes up much less space than either the image or the 3D point cloud but can be used effectively to recognize the landmark.

--+++Pictures

Coming soon, lots of images of spatiograms for different natural and artificial landmarks and also for textures.

Meanwhile, for more information, see the papers at ICRA 2010 and IROS 2010.

   * [[%ATTACHURL%/ICRA_2010_Lyons.pdf][ICRA_2010_Lyons.pdf]]: ICRA_2010_Lyons.pdf

   * [[%ATTACHURL%/Lyons_IROS_2010.pdf][Lyons_IROS_2010.pdf]]:IROS_2010_ Lyons.pdf


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-- Main.DamianLyons - 2012-05-18

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who
pdf	ICRA_2010_Lyons.pdf	r1	manage	279.4 K	2012-05-18 - 20:57	DamianLyons
pdf	Lyons_IROS_2010.pdf	r1	manage	567.1 K	2012-05-18 - 20:58	DamianLyons
JPG	chair.JPG	r1	manage	39.7 K	2012-05-18 - 20:52	DamianLyons

Topic revision: r1 - 2012-05-18 - DamianLyons