DOI: 10.1007/s00138-009-0195-x. A comparative evaluation of interest point detectors and local descriptors for visual SLAM

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

10.1007/s00138-009-0195-x

Crossref journal-article

Springer Science and Business Media LLC

Machine Vision and Applications (297)

Bibliography

Gil, A., Mozos, O. M., Ballesta, M., & Reinoso, O. (2009). A comparative evaluation of interest point detectors and local descriptors for visual SLAM. Machine Vision and Applications, 21(6), 905â920.

Authors 4

Arturo Gil (first)
Oscar Martinez Mozos (additional)
Monica Ballesta (additional)
Oscar Reinoso (additional)

References 31 Referenced 128

Arras, K.O.: Feature-based robot navigation in known and unknown environments. Ph.D. thesis, Swiss Federal Institute of Technology Lausanne (EPFL), Thèse No. 2765 (2003)
Bay, H., Tuytelaars, T., Gool, L.V.: SURF: Speeded up robust features. In: European Conference on Computer Vision (2006) (10.1007/11744023_32)
Biber, P., Andreasson, H., Duckett, T., Schilling, A.: 3D modelling of indoor environments by a mobile robot with a laser scanner and panoramic camera. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2004)
Davison A.J., Murray D.W.: Simultaneous localisation and map-building using active vision. IEEE Trans. Pattern Anal. Mach. Intell. 24, 865–880 (2002) (10.1109/TPAMI.2002.1017615) / IEEE Trans. Pattern Anal. Mach. Intell. by A.J. Davison (2002)
Eustice, R., Singh, H., Leonard, J.: Exactly sparse delayed-state filters. In: IEEE International Conference on Robotics and Automation (2005) (10.1109/ROBOT.2005.1570475)
Fraundorfer, F., Bischof, H.: A novel performance evaluation method of local detectors on non-planar scenes. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’05) (2005) (10.1109/CVPR.2005.393)
Gil, A., Reinoso, O., Burgard, W., Stachniss, C., Martínez Mozos, O.: Improving data association in rao-blackwellized visual SLAM. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2006) (10.1109/IROS.2006.282483)
Grisetti G., Stachniss C., Burgard W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Robotics 23(1), 34–46 (2007) (10.1109/TRO.2006.889486) / IEEE Trans. Robotics by G. Grisetti (2007)
Hähnel, D., Burgard, W., Fox, D., Thrun, S.: An efficient FastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas (2003)
Harris, C.G., Stephens, M.: A combined corner and edge detector. In: Alvey Vision Conference (1998)
Jensfelt, P., Kragic, D., Folkesson, J., Björkman, M.: A framework for vision based bearing only 3D SLAM. In: IEEE International Conference on Robotics and Automation (2006) (10.1109/ROBOT.2006.1641990)
Kadir, T., Brady, M., Zisserman, A.: An affine invariant method for selecting salient regions in images. In: Proceedings of the 8th European Conference on Computer Vision, pp. 345–457 (2004)
Kosecka, J., Zhou, L., Barber, P., Duric, Z.: Qualitative image based localization in indoor environments. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (2003) (10.1109/CVPR.2003.1211445)
Little, J., Se, S., Lowe, D.: Global localization using distinctive visual features. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2002)
Lowe, D.: Object recognition from local scale-invariant features. In: International Conference on Computer Vision (1999) (10.1109/ICCV.1999.790410)
Lowe D.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 2(60), 91–110 (2004) (10.1023/B:VISI.0000029664.99615.94) / Int. J. Comput. Vis. by D. Lowe (2004)
Matas, J., Chum, O., Urban, M., Pajdla, T.: Robust wide baseline stereo from maximally stable extremal regions. In: Proceedings of the 13th British Machine Vision Conference, pp. 384–393 (2002) (10.5244/C.16.36)
Mikolajczyk, K., Schmid, C.: Indexing based on scale invariant interest points. In: International Conference on Computer Vision (2001) (10.1109/ICCV.2001.937561)
Mikolajczyk K., Schmid C.: A performance evaluation of local descriptors. IEEE Trans. Pattern Anal. Mach. Intell. 27(10), 1615–1630 (2005) (10.1109/TPAMI.2005.188) / IEEE Trans. Pattern Anal. Mach. Intell. by K. Mikolajczyk (2005)
Mikolajczyk K., Tuytelaars T., Schmid C., Zisserman A., Matas J., Schaffalitzky F., Kadir T., Van Gool L.: A comparison of affine region detectors. Int. J. Comput. Vis. 65(1/2), 43–72 (2005) (10.1007/s11263-005-3848-x) / Int. J. Comput. Vis. by K. Mikolajczyk (2005)
Montemerlo, M., Thrun, S., Koller, D., Wegbreit, B.: Fastslam: a factored solution to the simultaneous localization and mapping problem. In: Eighteenth national conference on Artificial Intelligence, pp. 593–598. American Association for Artificial Intelligence, Menlo Park (2002)
Murillo, A.C., Guerrero, J.J., Sagüés, C.: Surf features for efficient robot localization with omnidirectional images. In: IEEE International Conference on Robotics and Automation (2007) (10.1109/ROBOT.2007.364077)
Schmid, C., Mohr, R., Bauckhage, C. (2000). Evaluaton of interest point detectors. Int. J. Comput. Vis. 37(2)
Se, S., Lowe, D.G., Little, J.: Vision-based mobile robot localization and mapping using scale-invariant features. In: IEEE International Conference on Robotics and Automation (2001) (10.1109/ROBOT.2001.932909)
Sim, R., Elinas, P., Griffin, M., Little, J.: Vision-based slam using the rao-blackwellised particle filter. In: IJCAI Workshop on Reasoning with Uncertainty in Robotics (RUR) (2005)
Smith, S.: A new class of corner finder. In: British Machine Vision Conference (1992) (10.5244/C.6.15)
Theodoridis S., Koutroumbas K.: Pattern Recognition, 3rd edn. Academic Press, New York (2006) / Pattern Recognition by S. Theodoridis (2006)
Triebel, R., Burgard, W.: Improving simultaneous mapping and localization in 3D using global constraints. In: National Conference on Artificial Intelligence (AAAI) (2005)
Valls Miro, J., Zhou, W., Dissanayake, G.: Towards vision based navigation in large indoor environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2006) (10.1109/IROS.2006.282487)
Zernike F.: Diffraction theory of the cut procedure and its improved form, the phase contrast method. Physica 1, 689–704 (1934) (10.1016/S0031-8914(34)80259-5) / Physica by F. Zernike (1934)
Zhang Z., Deriche R., Faugeras O., Luong Q.: A robust technique for matching two uncalibrated images through the recovery of the unknown epipolar geometry. Artif. Intell. 78, 87–119 (1995) (10.1016/0004-3702(95)00022-4) / Artif. Intell. by Z. Zhang (1995)

Dates

Type	When
Created	16 years, 4 months ago (April 13, 2009, 10:04 p.m.)
Deposited	6 years, 3 months ago (May 23, 2019, 5:08 a.m.)
Indexed	1 year ago (Aug. 3, 2024, 7:20 a.m.)
Issued	16 years, 4 months ago (April 15, 2009)
Published	16 years, 4 months ago (April 15, 2009)
Published Online	16 years, 4 months ago (April 15, 2009)
Published Print	14 years, 10 months ago (Oct. 1, 2010)

Funders 0

None

BibTeX

@article{Gil_2009, title={A comparative evaluation of interest point detectors and local descriptors for visual SLAM}, volume={21}, ISSN={1432-1769}, url={http://dx.doi.org/10.1007/s00138-009-0195-x}, DOI={10.1007/s00138-009-0195-x}, number={6}, journal={Machine Vision and Applications}, publisher={Springer Science and Business Media LLC}, author={Gil, Arturo and Mozos, Oscar Martinez and Ballesta, Monica and Reinoso, Oscar}, year={2009}, month=apr, pages={905–920} }

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