A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors

Table 1

Main features of the frameworks that use omnidirectional vision systems to solve the mapping and localization problems.

Reference	Approach	Type of image	Type of map	Features	Description
[112]	5.1	Omnidirectional	Metric	Local	Colour
[113]	5.1	Omnidirectional	Metric	Local	FAST-CSLBP
[114]	5.1	Omnidirectional	Metric	Local	LKOF
[84, 115]	5.1	Omnidirectional	Topological	Local	MSIFT
[116]	5.1	Omnidirectional	Topological	Local	SIFT; Invariant column segments
[98]	5.1	Panoramic	Topological	Global	Fourier Signature
[118]	5.1	Panoramic	Topological	Global	FACT descriptor
[119]	5.1	Panoramic	Topological	Global	Color histograms
[63]	5.1	Panoramic	Topological	Global	Fourier Signature
[120]	5.1	Panoramic	Topological	Global	Various
[121]	5.1	Omnidirectional	Topological	Global	GIST
[122]	5.1	Panoramic	Topological	Global	Fourier Signature
[95]	5.1	Panoramic	Topological	Global	PCA features
[60, 123]	5.1	Omnidirectional	Topological	Global	Spherical Fourier Transform
[124]	5.1	Omnidirectional	Metric	Local	SIFT
[125]	5.2	Panoramic	Metric	Local	Vertical edges
[126]	5.2	Panoramic	Metric	Local	Contours of objects
[127]	5.2	Omnidirectional	Metric	Local	Vertical + horizontal lines
[128]	5.2	Omnidirectional	Metric	Local	SURF
[129]	5.2	Omnidirectional	Metric	Global	Distance map
[130]	5.2	Omnidirectional	Metric	Local	SURF
[131]	5.2	Panoramic	Hybrid	Global	Fourier Signature
[132]	5.2	Panoramic	Sequence images	Local	Landmarks after reliability test
[133]	5.3	Panoramic	Sequence images	Local	KLT corner detection
[134]	5.3	Omnidirectional	Sequence images	Local	SIFT (improved)
[135]	5.3	Panoramic	Sequence images	Global	Portion of the image
[100]	5.3	Panoramic	Sequence images	Global	Fourier Signature
[136]	5.1, 5.3	Omnidirectional	Topological; sequence images	Global	Radon transform
[137]	5.3	Omnidirectional	Sequence images	Global	SURF
[138]	5.3	Unit sphere proj.; panor., orthographic	Sequence images	Global	Spherical Fourier Transform; Discrete Fourier Transform