Interest Point Detectors for Visual SLAM

  title={Interest Point Detectors for Visual SLAM},
  author={{\'O}scar Mart{\'i}nez Mozos and Arturo Gil and M{\'o}nica Ballesta and {\'O}scar Reinoso},
In this paper we present several interest points detectors and we analyze their suitability when used as landmark extractors for vision-based simultaneous localization and mapping (vSLAM). For this purpose, we evaluate the detectors according to their repeatability under changes in viewpoint and scale. These are the desired requirements for visual landmarks. Several experiments were carried out using sequence of images captured with high precision. The sequences represent planar objects as well… CONTINUE READING
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Improving data association in rao-blackwellized visual SLAM

  • A. Gil, O. Reinoso, W. Burgard, C. Stachniss, O. Mart́ınez Mozos
  • IEEE/RSJ Int. Conf. on Intelligent Robots…
  • 2006
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