Impact Assessment of Image Feature Extractors on the Performance of SLAM Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00236026" target="_blank" >RIV/68407700:21230/15:00236026 - isvavai.cz</a>
Result on the web
<a href="https://ojs.cvut.cz/ojs/index.php/APP/article/view/APP.2015.1.0045/3188" target="_blank" >https://ojs.cvut.cz/ojs/index.php/APP/article/view/APP.2015.1.0045/3188</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.14311/APP.2015.1.0045" target="_blank" >10.14311/APP.2015.1.0045</a>
Alternative languages
Result language
angličtina
Original language name
Impact Assessment of Image Feature Extractors on the Performance of SLAM Systems
Original language description
This work evaluates an impact of image feature extractors on the performance of a visual SLAM method in terms of pose accuracy and computational requirements. In particular, the S-PTAM (Stereo Parallel Tracking and Mapping) method is considered as the visual SLAM framework for which both the feature detector and feature descriptor are parametrized. The evaluation was performed with a standard dataset with ground-truth information and six feature detectors and four descriptors. The presented results indicate that the combination of the GFTT detector and the BRIEF descriptor provides the best trade-off between the localization precision and computational requirements among the evaluated combinations of the detectors and descriptors.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
—
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ACTA POLYTECHNICA CTU PROCEEDINGS: PAIR'15 Student Conferences on Planning in Artificial Intelligence and Robotics
ISBN
—
ISSN
2336-5382
e-ISSN
—
Number of pages
6
Pages from-to
45-50
Publisher name
ČVUT
Place of publication
Praha
Event location
Písek
Event date
Sep 7, 2015
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
—