Image moments for higher-level feature based navigation

Abstract

This paper presents a novel vision-based localization and mapping algorithm using image moments of region features. The environment is represented using regions, such as planes and/or 3D objects instead of only a dense set of feature points. The regions can be uniquely defined using a small number of parameters; e.g., a plane can be completely characterized… (More)
DOI: 10.1109/IROS.2013.6696413

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