Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Local invariant feature detectors: a survey
Foundations and Trends® in Computer Graphics and Vision
Fast stereo-based visual odometry for rover navigation
WSEAS Transactions on Circuits and Systems
The New College Vision and Laser Data Set
International Journal of Robotics Research
Fast point features for accurate visual odometry
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Improving the accuracy of visual odometry from point features
VIS '10 Proceedings of the 3rd WSEAS international conference on Visualization, imaging and simulation
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This work analyzes the performances of different feature detectors/descriptors in the context of incremental path estimation from passive stereo vision (Visual Odometry). Several state-of-the-art approaches have been tested, including a fast Hessian-based feature detector/descriptor developed at INRIM. Tests on both synthetic image sequences and real data show that in this particular application our approach yields results of accuracy comparable to the others, while being substantially faster and much more reliable.