An evaluation of image feature detectors and descriptors for robot navigation

Authors:
Adam Schmidt;Marek Kraft;Andrzej Kasiński
Affiliations:
Poznań University of Technology, Institute of Control and Information Engineering, Poznań, Poland;Poznań University of Technology, Institute of Control and Information Engineering, Poznań, Poland;Poznań University of Technology, Institute of Control and Information Engineering, Poznań, Poland
Venue:
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Year:
2010

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Abstract

The detection and matching of feature points is crucial in many computer vision systems. Successful establishing of points correspondences between concurrent frames is important in such tasks as visual odometry, structure from motion or simultaneous localization and mapping. This paper compares of the performance of the well established, single scale detectors and descriptors and the increasingly popular, multiscale approaches.