Abstract
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.
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Schmidt, A., Kraft, M. (2015). The Impact of the Image Feature Detector and Descriptor Choice on Visual SLAM Accuracy. In: Choraś, R. (eds) Image Processing & Communications Challenges 6. Advances in Intelligent Systems and Computing, vol 313. Springer, Cham. https://doi.org/10.1007/978-3-319-10662-5_25
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DOI: https://doi.org/10.1007/978-3-319-10662-5_25
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-10661-8
Online ISBN: 978-3-319-10662-5
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