Introduction to statistical pattern recognition (2nd ed.)
Introduction to statistical pattern recognition (2nd ed.)
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Mean Shift, Mode Seeking, and Clustering
IEEE Transactions on Pattern Analysis and Machine Intelligence
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Iconic Memory-Based Omnidirectional Route Panorama Navigation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Fast Human Detection Using a Cascade of Histograms of Oriented Gradients
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Robust mobile robot localization in highly non-static environments
Autonomous Robots
Visual teach and repeat for long-range rover autonomy
Journal of Field Robotics - Visual Mapping and Navigation Outdoors
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Task-oriented navigation algorithms for an outdoor environment with colored borders and obstacles
Intelligent Service Robotics
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In this paper, we propose an efficient feature matching method for scene recognition and global localization. The proposed method enables mobile robots to autonomously navigate through the dynamic environment where the robot frequently encounters visual occlusion and kidnapping. For this purpose, we present a scale optimization method to enhance the matching performance with the combination of the FAST detector and integral image-based SIFT descriptors that are computationally efficient. The scale optimization method is required because the FAST detector does not provide scale information to compute descriptors for matching. We evaluate the performance of feature matching using various indoor image sequences and demonstrate the robustness of our navigation system under various conditions.