How can we localize ourselves within a building solely using visual information, i.e., when no data about prior location or movement are available? Here, we define place categorization as a set of three distinct image classification tasks for view matching, location matching, and room matching. We present a novel image descriptor built on texture statistics and dynamic image partitioning that can be used to solve all tested place classification tasks. We benchmark the descriptor by assessing performance of regularization on our own dataset as well as the established Indoor Environment under Changing conditionS dataset, which varies lighting condition, location, and viewing angle on photos taken within an office building. We show improvement on both the datasets against a number of baseline algorithms.
|ScienceOpen disciplines:||Image processing|
|Keywords:||vision, image processing, place categorization, spatial cognition, localization|