IMPACT ASSESSMENT OF IMAGE FEATURE EXTRACTORS ON THE PERFORMANCE OF SLAM SYSTEMS
dc.contributor.author | Pire, Taihú | |
dc.contributor.author | Fischer, Thomas | |
dc.contributor.author | Faigl, Jan | |
dc.date.accessioned | 2023-01-18T14:29:40Z | |
dc.date.available | 2023-01-18T14:29:40Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | Acta Polytechnica. 2015, vol. 2, no. 2, p. 45-50. | |
dc.identifier.issn | 1210-2709 (print) | |
dc.identifier.issn | 1805-2363 (online) | |
dc.identifier.uri | http://hdl.handle.net/10467/105816 | |
dc.description.abstract | 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. | en |
dc.format.mimetype | application/pdf | |
dc.language.iso | eng | |
dc.publisher | České vysoké učení technické v Praze | cs |
dc.publisher | Czech Technical University in Prague | en |
dc.relation.ispartofseries | Acta Polytechnica | |
dc.relation.uri | https://ojs.cvut.cz/ojs/index.php/APP/article/view/3401 | |
dc.rights | Creative Commons Attribution 4.0 International License | en |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | |
dc.title | IMPACT ASSESSMENT OF IMAGE FEATURE EXTRACTORS ON THE PERFORMANCE OF SLAM SYSTEMS | |
dc.type | article | en |
dc.date.updated | 2023-01-18T14:29:40Z | |
dc.identifier.doi | 10.14311/APP.2015.1.0045 | |
dc.rights.access | openAccess | |
dc.type.status | Peer-reviewed | |
dc.type.version | publishedVersion |
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