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In this article a comparative study is carried out between three different types of detectors and feature descriptors on a mobile tracked robot. The detectors and descriptors are SIFT, SURF and ORB. The metrics used as a comparison are: processing time, resistance to noise and invariance to rotation. The experiments show that the ORB technique is the fastest obtaining similar results in the resistance to noise and the invariance to the rotation. Whereby, for mobile robots used in unstructured environments, where the speed of processing is a prime factor, this technique is the most recommendable.

Visión por computadora en un robot móvil tipo oruga