4 research outputs found
View management for lifelong visual maps
The time complexity of making observations and loop closures in a graph-based
visual SLAM system is a function of the number of views stored. Clever
algorithms, such as approximate nearest neighbor search, can make this function
sub-linear. Despite this, over time the number of views can still grow to a
point at which the speed and/or accuracy of the system becomes unacceptable,
especially in computation- and memory-constrained SLAM systems. However, not
all views are created equal. Some views are rarely observed, because they have
been created in an unusual lighting condition, or from low quality images, or
in a location whose appearance has changed. These views can be removed to
improve the overall performance of a SLAM system. In this paper, we propose a
method for pruning views in a visual SLAM system to maintain its speed and
accuracy for long term use.Comment: IEEE International Conference on Intelligent Robots and Systems
(IROS), 201
Using information content to select keypoints for UAV image matching
Image matching is one of the most important tasks in Unmanned Arial Vehicles (UAV) photogrammetry applications. The number and distribution of extracted keypoints play an essential role in the reliability and accuracy of image matching and orientation results. Conventional detectors generally produce too many redundant keypoints. In this paper, we study the effect of applying various information content criteria to keypoint selection tasks. For this reason, the quality measures of entropy, spatial saliency and texture coefficient are used to select keypoints extracted using SIFT, SURF, MSER and BRISK operators. Experiments are conducted using several synthetic and real UAV image pairs. Results show that the keypoint selection methods perform differently based on the applied detector and scene type, but in most cases, the precision of the matching results is improved by an average of 15%. In general, it can be said that applying proper keypoint selection techniques can improve the accuracy and efficiency of UAV image matching and orientation results. In addition to the evaluation, a new hybrid keypoint selection is proposed that combines all of the information content criteria discussed in this paper. This new screening method was also compared with those of SIFT, which showed 22% to 40% improvement for the bundle adjustment of UAV images
Image Feature Information Extraction for Interest Point Detection: A Comprehensive Review
Interest point detection is one of the most fundamental and critical problems
in computer vision and image processing. In this paper, we carry out a
comprehensive review on image feature information (IFI) extraction techniques
for interest point detection. To systematically introduce how the existing
interest point detection methods extract IFI from an input image, we propose a
taxonomy of the IFI extraction techniques for interest point detection.
According to this taxonomy, we discuss different types of IFI extraction
techniques for interest point detection. Furthermore, we identify the main
unresolved issues related to the existing IFI extraction techniques for
interest point detection and any interest point detection methods that have not
been discussed before. The existing popular datasets and evaluation standards
are provided and the performances for eighteen state-of-the-art approaches are
evaluated and discussed. Moreover, future research directions on IFI extraction
techniques for interest point detection are elaborated
Saliency-based keypoint selection for fast object detection and matching
In this paper we present a new approach to rank and select keypoints based on their saliency for object detection and matching under moderate viewpoint and lighting changes. Saliency is defined in terms of detectability, repeatability and distinctiveness by considering both the keypoint strength (as returned by the detector algorithm) and the associated local descriptor discriminating power. Our experiments prove that selecting a small amount of available keypoints (e.g., 10%) not only boosts efficiency but can also lead to better detection/matching accuracy thus making the proposed method attractive for real-time applications (e.g., augmented reality)