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Pay attention when selecting features
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2006 (English)In: 18th International Conference on Pattern Recognition, Vol 2, Proceedings / [ed] Tang, YY; Wang, SP; Lorette, G; Yeung, DS; Yan, H, 2006, 163-166 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we propose anew, hierarchical approach to landmark selection for simultaneous robot localization and mapping based on visual sensors: a biologically motivated attention system finds salient regions of interest (ROIs) in images, and within these regions, Harris corners are detected. This combines the advantages of the ROIs (reducing complexity, enabling good redetactability of regions) with the advantages of the Harris corners (high stability). Reducing complexity is important to meet real-time requirements and stability of features is essential to compute the depth of landmarks from structure from motion with a small baseline. We show that the number of landmarks is highly reduced compared to all Harris corners while maintaining the stability of features for the mapping task.

Place, publisher, year, edition, pages
2006. 163-166 p.
Series
International Conference On Pattern Recognition, ISSN 1051-4651
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-42255ISI: 000240678300039Scopus ID: 2-s2.0-34047211195ISBN: 0-7695-2521-0 (print)OAI: oai:DiVA.org:kth-42255DiVA: diva2:446226
Conference
18th International Conference on Pattern Recognition (ICPR 2006) Location: Hong Kong, Date: AUG 20-24, 2006
Note

QC 20111006

Available from: 2011-10-06 Created: 2011-10-06 Last updated: 2016-12-21Bibliographically approved

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Jensfelt, Patric

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Citation style
  • apa
  • harvard1
  • ieee
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More styles
Language
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Output format
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