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ISVC
2009
Springer

Real-Time Feature Acquisition and Integration for Vision-Based Mobile Robots

10 years 6 months ago
Real-Time Feature Acquisition and Integration for Vision-Based Mobile Robots
In this paper we propose a new system for real-time feature acquisition and integration based on high-resolution stereo images that is suitable for mobile robot platforms with limited resources. We combine a fast feature detection stage with a stable scale-invariant feature description method utilizing optimized spatial matching. Putative image feature matches are used to determine 3D coordinates of feature points and to estimate corresponding view transformations. Experimental results show the advantages of our system in terms of performance and accuracy compared to the standard methods used in the area. Key words: Feature acquisition, feature integration, vision, mobile robot
Thomas Hübner, Renato Pajarola
Added 26 May 2010
Updated 26 May 2010
Type Conference
Year 2009
Where ISVC
Authors Thomas Hübner, Renato Pajarola
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