Institution
Willow Garage
About: Willow Garage is a based out in . It is known for research contribution in the topics: Robot & Mobile robot. The organization has 76 authors who have published 191 publications receiving 28617 citations.
Topics: Robot, Mobile robot, Motion planning, Robotics, Personal robot
Papers
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01 Jan 2013TL;DR: NCC-S is proposed, a highly effective descriptor based on classic normalized cross-correlation, designed for fast execution in the Similarity-MTC framework, which suggests that MTC offers fruitful research directions for image matching previously not accessible in the steering based paradigm.
Abstract: Local descriptor methods are widely used in computer vision to compare local regions of images. These descriptors are often extracted relative to an estimated scale and rotation to provide invariance up to similarity transformations. The estimation of rotation and scale in local neighborhoods (also known as steering) is an imperfect process, however, and can produce errors downstream. In this paper, we propose an alternative to steering that we refer to as match-time covariance (MTC). MTC is a general strategy for descriptor design that simultaneously provides invariance in local neighborhood matches together with the associated aligning transformations. We also provide a general framework for endowing existing descriptors with similarity invariance through MTC. The framework, Similarity-MTC, is simple and dramatically improves accuracy. Finally, we propose NCC-S, a highly effective descriptor based on classic normalized cross-correlation, designed for fast execution in the Similarity-MTC framework. The surprising effectiveness of this very simple descriptor suggests that MTC offers fruitful research directions for image matching previously not accessible in the steering based paradigm.
Authors
Showing all 76 results
Name | H-index | Papers | Citations |
---|---|---|---|
Ian Goodfellow | 85 | 137 | 135390 |
Kurt Konolige | 64 | 171 | 24749 |
Andreas Paepcke | 50 | 140 | 9405 |
Gunter Niemeyer | 47 | 153 | 17135 |
Radu Bogdan Rusu | 43 | 97 | 15008 |
Mike J. Dixon | 42 | 182 | 8272 |
Gary Bradski | 41 | 82 | 23763 |
Leila Takayama | 34 | 90 | 4549 |
Sachin Chitta | 34 | 56 | 4589 |
Wendy Ju | 34 | 184 | 3861 |
Maya Cakmak | 34 | 111 | 4452 |
Brian P. Gerkey | 32 | 51 | 7923 |
Caroline Pantofaru | 26 | 65 | 4116 |
Matei Ciocarlie | 25 | 91 | 3176 |
Kaijen Hsiao | 24 | 29 | 2366 |