Identification of suitable interest points using geometric and photometric cues in motion video for efficient 3-D environmental modeling

T. Nicosevici, R. Garcia, S. Negahdaripour, M. Kudzinava, J. Ferrer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Many applications in mobile and underwater robotics employ 3D vision techniques for navigation and mapping. These techniques usually involve the extraction and 3D reconstruction of scene interest points. Nevertheless, in large environments the huge volume of acquired information could pose serious problems to real-time data processing. Moreover, In order to minimize the drift, these techniques use data association to close trajectory loops, decreasing the uncertainties in estimating the position of the robot and increasing the precision of the resulting 3D models. When faced to large amounts of features, the efficiency of data association decreases drastically, affecting the global performance. This paper proposes a framework that highly reduces the number of extracted features with minimum impact on the precision of the 3D scene model. This is achieved by minimizing the representation redundancy by analyzing the geometry of the environment and extracting only those features that are both photometrically and geometrically significant.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4969-4974
Number of pages6
DOIs
StatePublished - Nov 27 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Nicosevici, T., Garcia, R., Negahdaripour, S., Kudzinava, M., & Ferrer, J. (2007). Identification of suitable interest points using geometric and photometric cues in motion video for efficient 3-D environmental modeling. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 4969-4974). [4209863] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364245