Vision-based navigation with efficient scene recognition

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In this paper, we propose an efficient feature matching method for scene recognition and global localization. The proposed method enables mobile robots to autonomously navigate through the dynamic environment where the robot frequently encounters visual occlusion and kidnapping. For this purpose, we present a scale optimization method to enhance the matching performance with the combination of the FAST detector and integral image-based SIFT descriptors that are computationally efficient. The scale optimization method is required because the FAST detector does not provide scale information to compute descriptors for matching. We evaluate the performance of feature matching using various indoor image sequences and demonstrate the robustness of our navigation system under various conditions. © 2011 Springer-Verlag.
Publisher
Springer Verlag
Issue Date
2011-07
Language
English
Article Type
Article
Citation

INTELLIGENT SERVICE ROBOTICS, v.4, no.3, pp.191 - 202

ISSN
1861-2776
DOI
10.1007/s11370-011-0091-x
URI
http://hdl.handle.net/10203/94129
Appears in Collection
EE-Journal Papers(저널논문)
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