Review Article
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 |
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