Fast Point Features for Accurate Visual Odometry

被引：0

作者：

Cumani, Aldo ^{[1
]}

Guiducci, Antonio ^{[1
]}

机构：

[1] Ist Nazl Ric Metrol, Str Cacce 91, I-10135 Turin, Italy

来源：

NEW ASPECTS OF SYSTEMS, PTS I AND II | 2008年

关键词：

Robot localisation; Stereo vision; SLAM; Hessian feature detectors;

D O I：

暂无

中图分类号：

C93 [管理学]; O22 [运筹学];

学科分类号：

070105 ; 12 ; 1201 ; 1202 ; 120202 ;

摘要：

Visual odometry is the problem of estimating the path of a mobile platform by onboard passive vision only. Our approach relies on stereo vision and bundle adjustment of tracked feature points. In this work we propose a feature detector/descriptor which is a simplified form of other well known descriptors (SURF). Tests on real-world data show that our descriptors are effective for accurate path estimation, while being fast enough for use in tasks such as autonomous planetary exploration.

引用

页码：186 / +

页数：2

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