Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 2, Issue 2, Pages 444-451Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2016.2635686
Keywords
Low light vision; mapping; robust visual odometry; SLAM; visual tracking
Categories
Ask authors/readers for more resources
Feature descriptors are powerful tools for photometrically and geometrically invariant image matching. To date, however, their use has been tied to sparse interest point detection, which is susceptible to noise under adverse imaging conditions. In this letter, we propose to use binary feature descriptors in a direct tracking framework without relying on sparse interest points. This novel combination of feature descriptors and direct tracking is shown to achieve robust and efficient visual odometry with applications to poorly lit subterranean environments.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available