The Impact of the Image Feature Detector and Descriptor Choice on Visual SLAM Accuracy

Adam Schmidt; Marek Kraft

doi:10.1007/978-3-319-10662-5_25

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Title

The Impact of the Image Feature Detector and Descriptor Choice on Visual SLAM Accuracy

Authors

Adam Schmidt (WE) ^{[ 1 ][ P ]}
Marek Kraft (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2015

Chapter type

chapter in monograph

Publication language

english

Abstract

EN The paper presents an evaluation of a range of contemporary image feature detectors and descriptors for the mobile robot visual simultaneous localization and mapping. The analysis of the impact of the detector and descriptor choice on the accuracy of robot trajectory reconstruction was performed using precise ground truth data. Moreover, as processing time is an important, the average computation times for each of the detector-descriptor pairs are also included.

Pages (from - to)

203 - 210

DOI

10.1007/978-3-319-10662-5_25

URL

https://link.springer.com/chapter/10.1007/978-3-319-10662-5_25

Book

Image Processing & Communications Challenges 6

Presented on

6th International Image Processing and Communications Conference, IP&C 2014, 10-12.09.2014, Bydgoszcz, Poland

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