Robust feature matching for loop closing and localization.
Jungho KimIn-So KweonPublished in: IROS (2007)
Keyphrases
- feature matching
- loop closing
- outlier rejection
- image pairs
- image matching
- feature extraction and matching
- matching algorithm
- feature points
- object recognition
- mobile robot
- simultaneous localization and mapping
- image registration
- d objects
- graph matching
- geometric constraints
- computer vision
- camera calibration
- image analysis
- stereo pair
- feature vectors