Comparison of feature detectors for rover navigation

Authors:
Aldo Cumani;Antonio Guiducci
Affiliations:
Istituto Nazionale di Ricerca Metrologica, Torino, Italy;Istituto Nazionale di Ricerca Metrologica, Torino, Italy
Venue:
MMACTEE'09 Proceedings of the 11th WSEAS international conference on Mathematical methods and computational techniques in electrical engineering
Year:
2009

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Abstract

This work compares the performances of some feature detectors/descriptors in the context of path estimation from passive stereo vision (Visual Odometry). Several up-to-date approaches have been tested, including a fast Hessian-based feature detector/descriptor developed by us. Tests on both simulated image sequences and real data show that in this particular application our approach yields results at least as accurate as the others, while being substantially faster.