TY - GEN
T1 - A comparative study of image feature detection and description methods for robot vision
AU - Gonzalez-Ruiz, Martin
AU - Diaz-Ramirez, Victor H.
AU - Juarez-Salazar, Rigoberto
N1 - Publisher Copyright:
© 2019 SPIE. Downloading of the abstract is permitted for personal use only.
PY - 2019
Y1 - 2019
N2 - Detection and description of local features in images is an essential task in robot vision. This task allows to identify and uniquely specify stable and invariant regions in a observed scene. Many successful detectors and descriptors have been proposed. However, the proper combination of a detector and a descriptor is not trivial because there is a trade-off among different performance criteria. This work presents a comparative study of successful image feature detection and description methods in the context of the simultaneous localization and mapping problem. The considered methods are exhaustively evaluated in terms of accuracy, robustness, and processing time.
AB - Detection and description of local features in images is an essential task in robot vision. This task allows to identify and uniquely specify stable and invariant regions in a observed scene. Many successful detectors and descriptors have been proposed. However, the proper combination of a detector and a descriptor is not trivial because there is a trade-off among different performance criteria. This work presents a comparative study of successful image feature detection and description methods in the context of the simultaneous localization and mapping problem. The considered methods are exhaustively evaluated in terms of accuracy, robustness, and processing time.
KW - Image matching
KW - Local feature descriptor
KW - Local feature detector
KW - Simultaneous Localization and Mapping
UR - http://www.scopus.com/inward/record.url?scp=85075780840&partnerID=8YFLogxK
U2 - 10.1117/12.2528581
DO - 10.1117/12.2528581
M3 - Contribución a la conferencia
AN - SCOPUS:85075780840
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Optics and Photonics for Information Processing XIII
A2 - Iftekharuddin, Khan M.
A2 - Awwal, Abdul A. S.
A2 - Diaz-Ramirez, Victor H.
A2 - Marquez, Andres
PB - SPIE
T2 - Optics and Photonics for Information Processing XIII 2019
Y2 - 13 August 2019 through 14 August 2019
ER -