SIFT, SURF & seasons: Appearance-based long-term localization in outdoor environments.
Christoffer ValgrenAchim J. LilienthalPublished in: Robotics Auton. Syst. (2010)
Keyphrases
- outdoor environments
- long term
- scale invariant feature transform
- simultaneous localization and mapping
- speeded up robust features
- map building
- feature descriptors
- mobile robot
- surveillance system
- image matching
- interest point detectors
- keypoints
- object recognition
- indoor environments
- loop closure
- robot motion
- image features
- sift descriptors
- autonomous navigation
- object detection
- feature matching
- kalman filter
- scale invariant
- feature points
- dynamic environments
- feature space
- data association
- mobile robotics