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International Symposium on Experimental Robotics

ISER 2018: Proceedings of the 2018 International Symposium on Experimental Robotics pp 751–761Cite as

Consistent Multi-robot Object Matching via QuickMatch

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Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 11))

Abstract

In this work, we present a novel solution and experimental verification for the multi-image object matching problem. We first review the QuickMatch algorithm for multi-image feature matching and then show how it applies to an object matching test. The presented experiment looks to match features across a large number of images and features more often and accurately than standard techniques. This experiment demonstrates the advantages of rapid multi-image matching, not only for improving system performance, but also for use in new applications, such as object discovery and localization.

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Acknowledgements

This work was supported by the National Science Foundation under grants NRI-1734454, and IIS-1717656.

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Authors and Affiliations

  1. Boston University, Boston, MA, 02446, USA

    Zachary Serlin, Brandon Sookraj, Calin Belta & Roberto Tron

Authors
  1. Zachary Serlin
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  2. Brandon Sookraj
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  3. Calin Belta
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  4. Roberto Tron
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Corresponding author

Correspondence to Zachary Serlin .

Editor information

Editors and Affiliations

  1. Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA

    Jing Xiao

  2. Karlsruhe Institute of Technology, Karlsruhe, Baden-Württemberg, Germany

    Torsten Kröger

  3. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

1 Electronic supplementary material

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Supplementary material 1 (mp4 40227 KB)

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Serlin, Z., Sookraj, B., Belta, C., Tron, R. (2020). Consistent Multi-robot Object Matching via QuickMatch. In: Xiao, J., Kröger, T., Khatib, O. (eds) Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018. Springer Proceedings in Advanced Robotics, vol 11. Springer, Cham. https://doi.org/10.1007/978-3-030-33950-0_64

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