Open AccessA comparative evaluation of interest point detectors and local descriptors for visual SLAM
Author(s) -
Arturo Gil,
Óscar Martínez Mozos,
Mónica Ballesta,
Óscar Reinoso
Publication year - 2009
Publication title -
machine vision and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.37
H-Index - 68
eISSN - 1432-1769
pISSN - 0932-8092
DOI - 10.1007/s00138-009-0195-x
Subject(s) - artificial intelligence , computer vision , optimal distinctiveness theory , simultaneous localization and mapping , landmark , detector , computer science , point (geometry) , pattern recognition (psychology) , planar , mathematics , mobile robot , computer graphics (images) , robot , psychology , telecommunications , geometry , psychotherapist
In this paper we compare the behavior of different interest points detectors and descriptors under the\udconditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM).\udWe evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors,\udunder different perceptual conditions using sequences of images representing planar objects as well as 3D scenes.\udWe believe that this information will be useful when selecting an appropriat
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