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

Article English OPEN
Gil, Arturo ; Martinez Mozos, Oscar ; Ballesta, Monica ; Reinoso, Oscar (2010)
  • Publisher: Springer for International Association for Pattern Recognition
  • Related identifiers: doi: 10.1007/s00138-009-0195-x
  • Subject: G740 Computer Vision | H671 Robotics | G760 Machine Learning
    arxiv: Computer Science::Computer Vision and Pattern Recognition | Computer Science::Multimedia
    acm: ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION

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
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