Spectral contrasts for landmark navigation

Kollmeier T, Röben F, Schenck W, Möller R (2007)
Journal of the Optical Society of America A: Optics, Image Science & Vision 24(1): 1-10.

Journal Article | Published | English

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Abstract
Visual robot navigation in outdoor environments would benefit from an illumination-independent representation of images. We explore how such a representation, comprising a black skyline of objects in front of a white sky, can be obtained from dual-channel spectral contrast measures. Light from sky and natural objects under different conditions of illumination was analyzed by five spectral channels: ultraviolet, blue, green, red, and near infrared. Linear discriminant analysis was applied to determine the optimal linear separation between sky and object points. A statistical comparison shows that contrasts with large differences in the wavelength of the two channels, specifically ultraviolet-infrared, blue-infrared, and ultraviolet-red, yield the best separation. Within a single channel, the best separation was obtained for ultraviolet light. The gain in separation quality when all five channels were included is relatively small. (c) 2006 Optical Society of America.
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Kollmeier T, Röben F, Schenck W, Möller R. Spectral contrasts for landmark navigation. Journal of the Optical Society of America A: Optics, Image Science & Vision. 2007;24(1):1-10.
Kollmeier, T., Röben, F., Schenck, W., & Möller, R. (2007). Spectral contrasts for landmark navigation. Journal of the Optical Society of America A: Optics, Image Science & Vision, 24(1), 1-10.
Kollmeier, T., Röben, F., Schenck, W., and Möller, R. (2007). Spectral contrasts for landmark navigation. Journal of the Optical Society of America A: Optics, Image Science & Vision 24, 1-10.
Kollmeier, T., et al., 2007. Spectral contrasts for landmark navigation. Journal of the Optical Society of America A: Optics, Image Science & Vision, 24(1), p 1-10.
T. Kollmeier, et al., “Spectral contrasts for landmark navigation”, Journal of the Optical Society of America A: Optics, Image Science & Vision, vol. 24, 2007, pp. 1-10.
Kollmeier, T., Röben, F., Schenck, W., Möller, R.: Spectral contrasts for landmark navigation. Journal of the Optical Society of America A: Optics, Image Science & Vision. 24, 1-10 (2007).
Kollmeier, Thomas, Röben, Frank, Schenck, Wolfram, and Möller, Ralf. “Spectral contrasts for landmark navigation”. Journal of the Optical Society of America A: Optics, Image Science & Vision 24.1 (2007): 1-10.
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PMID: 17164837
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