On Tracking and Matching in Vision Based Navigation

被引：0
作者：
Schmidt, Adam [1 ]
Kraft, Marek [1 ]
Fularz, Michal [1 ]
机构：
[1] Poznan Univ Tech, Inst Control & Informat Engn, Poznan, Poland
来源：
IMAGE ANALYSIS AND RECOGNITION, ICIAR 2014, PT II | 2014年 / 8815卷
关键词：
D O I：
10.1007/978-3-319-11755-3_51
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper presents a thorough comparative analysis of the feature tracking and the feature matching approaches applied to the visual navigation. The evaluation was performed on a synthetic dataset with perfect ground truth to assure maximum reliability of results. The presented results include the analysis of both the feature localization accuracy and the computational costs of different methods. Additionally, the distribution of the uncertainty of the features localization was analyzed and parametrized.
引用
收藏
页码：461 / 468
页数：8
相关论文
共 16 条
  • [1] [Anonymous], 2010, ROBOTICS SCI SYSTEMS
  • [2] SURF: Speeded up robust features
    Bay, Herbert
    Tuytelaars, Tinne
    Van Gool, Luc
    [J]. COMPUTER VISION - ECCV 2006 , PT 1, PROCEEDINGS, 2006, 3951 : 404 - 417
  • [3] Bouguet J-Y, 1999, PYRAMIDAL IMPLEMENTA
  • [4] BRIEF: Computing a Local Binary Descriptor Very Fast
    Calonder, Michael
    Lepetit, Vincent
    Oezuysal, Mustafa
    Trzcinski, Tomasz
    Strecha, Christoph
    Fua, Pascal
    [J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 2012, 34 (07) : 1281 - 1298
  • [5] Visual Odometry Part II: Matching, Robustness, Optimization, and Applications
    Fraundorfer, Friedrich
    Scaramuzza, Davide
    [J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 2012, 19 (02) : 78 - 90
  • [6] Handa A, 2014, IEEE INT C IN PRESS
  • [7] INHA : Localization of Mobile Robots based on Feature Matching with a Single Camera
    Lee, Jaehong
    Cui, Xuenan
    Lee, Seungjun
    Kim, Hakil
    Kim, Hyoungrae
    [J]. 2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 2013, : 2765 - 2770
  • [8] Distinctive image features from scale-invariant keypoints
    Lowe, DG
    [J]. INTERNATIONAL JOURNAL OF COMPUTER VISION, 2004, 60 (02) : 91 - 110
  • [9] Combining photometric and depth data for lightweight and robust visual odometry
    Nowicki, Michal
    Skrzypczynski, Piotr
    [J]. 2013 EUROPEAN CONFERENCE ON MOBILE ROBOTS (ECMR 2013), 2013, : 125 - 130
  • [10] Machine learning for high-speed corner detection
    Rosten, Edward
    Drummond, Tom
    [J]. COMPUTER VISION - ECCV 2006 , PT 1, PROCEEDINGS, 2006, 3951 : 430 - 443
12