An experimental evaluation of feature detectors and descriptors for visual SLAM.
Taihú PireHernán GonzalezEmiliano SantanoLucas D. TerissiJavier Civera SanchoPublished in: Int. J. Comput. Vis. Robotics (2023)
Keyphrases
- feature detectors
- visual slam
- feature detection
- real time
- feature points
- dynamic environments
- camera motion
- bundle adjustment
- scale invariant
- affine invariant
- monocular camera
- simultaneous localization and mapping
- edge detector
- feature descriptors
- multibody
- keypoints
- structure from motion
- image processing
- detection algorithm
- scale space
- mobile robot
- object recognition
- affine transformation
- point correspondences
- preprocessing
- motion segmentation
- optical flow
- moving objects