Book ChapterDOI
CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching
Motilal Agrawal,Kurt Konolige,Morten Rufus Blas +2 more
- pp 102-115
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TLDR
A suite of scale-invariant center-surround detectors (CenSurE) that outperform the other detectors, yet have better computational characteristics than other scale-space detectors, and are capable of real-time implementation are introduced.Abstract:
We explore the suitability of different feature detectors for the task of image registration, and in particular for visual odometry, using two criteria: stability (persistence across viewpoint change) and accuracy (consistent localization across viewpoint change). In addition to the now-standard SIFT, SURF, FAST, and Harris detectors, we introduce a suite of scale-invariant center-surround detectors (CenSurE) that outperform the other detectors, yet have better computational characteristics than other scale-space detectors, and are capable of real-time implementation.read more
Citations
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Proceedings ArticleDOI
Evaluation of low-complexity visual feature detectors and descriptors
TL;DR: An up-to-date detailed, clear, and complete evaluation of local feature detector and descriptors, focusing on the methods that were designed with complexity constraints is provided, providing a much needed reference for researchers in this field.
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Tissue Tracking and Registration for Image-Guided Surgery
TL;DR: An integrated framework for accurately tracking tissue in surgical stereo-cameras at real-time speeds is presented and the salient feature framework is extended to support region tracking in order to maintain the spatial correspondence of a tracked region of tissue or a medical image registration to the surrounding tissue.
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Vision based robot localization by ground to satellite matching in GPS-denied situations
TL;DR: This paper proposes a two-step approach to matching images captured from an unmanned ground vehicle (UGV) to those from a satellite or high-flying vehicle, and shows that vision-based UGV localization from satellite maps is not only possible, but often provides better position estimates than GPS estimates, enabling the location estimates of Google Street View.
Journal ArticleDOI
Anatomy of the SIFT Method
TL;DR: In this paper, an in-depth analysis of the SIFT method is presented, focusing on the exact computation of the Gaussian scale-space which is at the heart of SIFT as well as most of its competitors.
Journal ArticleDOI
Image features for visual teach-and-repeat navigation in changing environments
TL;DR: An evaluation of standard image features in the context of long-term visual teach-and-repeat navigation of mobile robots, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes, proposes a trainable feature descriptor based on a combination of evolutionary algorithms and Binary Robust Independent Elementary Features, which is called GRIEF.
References
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Proceedings ArticleDOI
A Combined Corner and Edge Detector
Chris Harris,Mike Stephens +1 more
TL;DR: The problem the authors are addressing in Alvey Project MMI149 is that of using computer vision to understand the unconstrained 3D world, in which the viewed scenes will in general contain too wide a diversity of objects for topdown recognition techniques to work.
Book ChapterDOI
SURF: speeded up robust features
TL;DR: A novel scale- and rotation-invariant interest point detector and descriptor, coined SURF (Speeded Up Robust Features), which approximates or even outperforms previously proposed schemes with respect to repeatability, distinctiveness, and robustness, yet can be computed and compared much faster.
Proceedings ArticleDOI
Robust real-time face detection
Paul A. Viola,Michael Jones +1 more
TL;DR: A new image representation called the “Integral Image” is introduced which allows the features used by the detector to be computed very quickly and a method for combining classifiers in a “cascade” which allows background regions of the image to be quickly discarded while spending more computation on promising face-like regions.