Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors

<div>Process to obtain (a) the HOG position descriptor <svg height="16.0713pt" id="M74" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -12.8898 11.7792 16.0713" width="11.7792pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,6.133,-3.549)"><path d="M-21 591C-45 610 -87 648 -131 700L-155 684L-108 616H-397V566H-108L-155 498L-131 482C-87 534 -45 572 -21 591Z" id="g117-14"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M499 88L487 113C459 86 422 65 413 65C403 65 403 74 409 98L461 318C487 426 460 448 431 448C408 448 383 441 352 424C305 398 223 344 157 257H155L243 674C249 702 249 712 240 712C227 712 170 680 87 673L82 648H117C155 648 162 644 150 590L23 -4L30 -12C55 -4 81 3 105 8C113 53 131 150 143 187C199 281 323 387 372 387C390 387 393 369 380 311L328 86C313 19 319 -12 347 -12C379 -12 442 24 499 88Z" id="g113-105"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="516" vert-adv-y="516"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.733,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> and (b) the HOG orientation descriptor <svg height="16.0713pt" id="M75" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -12.8898 11.7792 16.0713" width="11.7792pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,6.133,-3.549)"><path d="M-21 591C-45 610 -87 648 -131 700L-155 684L-108 616H-397V566H-108L-155 498L-131 482C-87 534 -45 572 -21 591Z" id="g117-14"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M499 88L487 113C459 86 422 65 413 65C403 65 403 74 409 98L461 318C487 426 460 448 431 448C408 448 383 441 352 424C305 398 223 344 157 257H155L243 674C249 702 249 712 240 712C227 712 170 680 87 673L82 648H117C155 648 162 644 150 590L23 -4L30 -12C55 -4 81 3 105 8C113 53 131 150 143 187C199 281 323 387 372 387C390 387 393 369 380 311L328 86C313 19 319 -12 347 -12C379 -12 442 24 499 88Z" id="g113-105"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="516" vert-adv-y="516"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.733,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg>.</div>

Journal of Sensors

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Figure 1

Figure 1: Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors 