Scene Representation using 360{\deg} Saliency Graph and its Application in Vision-based Indoor Navigation

Abstract

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based navigation. Thus, these representations may not be efficient for such applications. This paper proposes a novel 360{\deg} saliency graph representation of the scenes. This rich representation explicitly encodes the relevant visual, contextual, semantic, and geometric information of the scene as nodes, edges, edge weights, and angular position in the 360{\deg} graph. Also, this representation is robust against scene view change and addresses challenges of indoor environments such as varied illumination, occlusions, and shadows as in the case of existing traditional methods. We have utilized this rich and efficient representation for vision-based navigation and compared it with existing navigation methods using 360{\deg} scenes. However, these existing methods suffer from limitations of poor scene representation, lacking scene-specific information. This work utilizes the proposed representation first to localize the query scene in the given topological map, and then facilitate 2D navigation by estimating the next required movement directions towards the target destination in the topological map by using the embedded geometric information in the 360{\deg} saliency graph. Experimental results demonstrate the efficacy of the proposed 360{\deg} saliency graph representation in enhancing both scene localization and vision-based indoor navigation.