A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Gil, Arturo and Martinez Mozos, Oscar and Ballesta, Monica and Reinoso, Oscar (2010) A comparative evaluation of interest point detectors and local descriptors for visual SLAM. Machine Vision and Applications (MVA), 21 (6). pp. 905-920. ISSN 0932-8092

Full content URL: http://link.springer.com/article/10.1007%2Fs00138-...

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Abstract

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the
conditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM).
We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors,
under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes.
We believe that this information will be useful when selecting an appropriate

Keywords:Interest point detectors, Local descriptors, Visual landmarks, Visual SLAM
Subjects:H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G760 Machine Learning
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
ID Code:9330
Deposited On:07 May 2013 14:26

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