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2008
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Performance evaluation of a vertical line descriptor for omnidirectional images

10 years 1 months ago
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.
Davide Scaramuzza, Cédric Pradalier, Roland
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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