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

Authors:
Arturo Gil;Oscar Martinez Mozos;Monica Ballesta;Oscar Reinoso
Affiliations:
Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain;University of Freiburg, Department of Computer Science, Freiburg im Breisgau, Germany;Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain;Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain
Venue:
Machine Vision and Applications
Year:
2010

Citing 0
Cited 13

Alignment of visual maps in multirobot FastSLAM

CIMMACS'09 Proceedings of the 8th WSEAS International Conference on Computational intelligence, man-machine systems and cybernetics
Multi-robot map alignment in visual SLAM

WSEAS TRANSACTIONS on SYSTEMS
Map fusion in an independent multi-robot approach

WSEAS TRANSACTIONS on SYSTEMS
Efficiently locating photographs in many panoramas

Proceedings of the 18th SIGSPATIAL International Conference on Advances in Geographic Information Systems
Towards multi-robot independent visual SLAM

ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume I
A comparative evaluation of feature detectors on historic repeat photography

ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part II
Spatially-aware indexing for image object retrieval

Proceedings of the fifth ACM international conference on Web search and data mining
Diagnosing error in object detectors

ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part III
3D Rheims reconstruction through ages: robust and invariant postcard matching

Proceedings of the 27th Conference on Image and Vision Computing New Zealand
How to localize humanoids with a single camera?

Autonomous Robots
Feature point detection under extreme lighting conditions

Proceedings of the 28th Spring Conference on Computer Graphics
Dense topological maps and partial pose estimation for visual control of an autonomous cleaning robot

Robotics and Autonomous Systems
Cleaning robot navigation using panoramic views and particle clouds as landmarks

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper we compare the behavior of different interest point 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 landmark detector and descriptor for visual SLAM.