Gil, Arturo, Martinez Mozos, Oscar, 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-...
| Documents |
| ||||
|
PDF
gil2009mva.pdf - Whole Document 2MB |
| Item Type: | Article |
|---|---|
| Item Status: | Live Archive |
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 |
Repository Staff Only: item control page