The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of CIRCUITS, SYSTEMS and SIGNAL PROCESSING
Transactions ID Number: 19-679
Full Name: Aldo Cumani
Position: Research Director
Age: ON
Sex: Male
Address: str. delle Cacce, 91 - 10135 Torino
Country: ITALY
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E-mail address: a.cumani@inrim.it
Other E-mails: aldocumani@alumni.com
Title of the Paper: Feature Localization Refinement for Improved Visual Odometry Accuracy
Authors as they appear in the Paper: Aldo Cumani
Email addresses of all the authors: a.cumani@inrim.it
Number of paper pages: 8
Abstract: This work aims at improving the accuracy in the estimation of the path of a mobile platform from onboard passive stereo vision (so-called Visual Odometry). Our algorithm estimates motion steps by robust bundle adjustment of matched feature points, independently extracted from two pairs of stereo images. It is shown that, when using a fast Hessian-based feature detector/descriptor developed by us, a simple and computationally inexpensive algorithm can be devised to refine the image localization of features. Tests on real data confirm that this refinement actually yields a non negligible improvement in path estimation accuracy.
Keywords: Robot localization, Stereo vision, Visual odometry, Feature descriptors, Feature detectors
EXTENSION of the file: .pdf
Special (Invited) Session: Improving the Accuracy of Visual Odometry from Point Features
Organizer of the Session: 638-160
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