Topological Height Estimation Using Global Appearance of Images
Francisco Amoros, Luis Paya, Oscar Reinoso, Luis Miguel Jimenez, and Miguel Julia
ROBOT2013: First Iberian Robotics Conference Advances in Intelligent Systems and Computing  (Madrid (Spain), 28-29 November 2013)
Ed. Springer  ISBN:978-3-319-03652-6  ISSN:2194-5357  DOI:10.1007/978-3-319-03653-3_7  - Vol. 253, pp. 77-89


In this work we present a comparison of different methodsfor topological height estimation applicable in UAVs navigation tasks using omnidirectional images. We take profit of the camera calibration information in oder to obtain different projections of the visual information from the omnidirectional images. The descriptors used to collect the visual information are based on the global appearance of the scenes. We test the algorithms using a real and dealing database.