Interest Point Detectors for Visual SLAM

Authors:
Óscar Martínez Mozos;Arturo Gil;Monica Ballesta;Oscar Reinoso
Affiliations:
Department of Computer Science, University of Freiburg, Germany;Department of Systems Engineering, Miguel Hernández University, Spain;Department of Systems Engineering, Miguel Hernández University, Spain;Department of Systems Engineering, Miguel Hernández University, Spain
Venue:
Current Topics in Artificial Intelligence
Year:
2007

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Abstract

In this paper we present several interest points detectors and we analyze their suitability when used as landmark extractors for vision-based simultaneous localization and mapping (vSLAM). For this purpose, we evaluate the detectors according to their repeatability under changes in viewpoint and scale. These are the desired requirements for visual landmarks. Several experiments were carried out using sequence of images captured with high precision. The sequences represent planar objects as well as 3D scenes.