An Examination of Feature Detection for Real-Time Visual Odometry in Untextured Natural Terrain.
Kyohei OtsuMasatsugu OtsukiGenya IshigamiTakashi KubotaPublished in: RiTA (2012)
Keyphrases
- feature detection
- visual odometry
- real time
- autonomous navigation
- long range
- ego motion
- detection method
- scale space
- detection algorithm
- position information
- keypoints
- object recognition
- preprocessing
- simultaneous localization and mapping
- image features
- multiresolution
- image analysis
- depth images
- kalman filtering
- three dimensional
- mobile robot
- range data
- d objects
- dynamic environments
- face recognition