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IROS
2008
IEEE
2008
IEEE
Performance evaluation of a vertical line descriptor for omnidirectional images
— In robotics, vertical lines have been always very useful for autonomous robot localization and navigation in structured environments. This paper presents a robust method for matching vertical lines in omnidirectional images. Matching robustness is achieved by creating a descriptor which is very distinctive and is invariant to rotation and slight changes of illumination. We characterize the performance of the descriptor on a large image dataset by taking into account the sensitiveness to the different parameters of the descriptor. The robustness of the approach is also validated through a real navigation experiment with a mobile robot equipped with an omnidirectional camera.
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| Added | 31 May 2010 |
| Updated | 31 May 2010 |
| Type | Conference |
| Year | 2008 |
| Where | IROS |
| Authors | Davide Scaramuzza, Cédric Pradalier, Roland Siegwart |
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