Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 89, Issue -, Pages 51-74Publisher
ELSEVIER
DOI: 10.1016/j.robot.2016.12.001
Keywords
Visual pose estimation; Robot localization; Local visual features; Holistic visual homing; Image databases
Funding
- Deutsche Forschungsgemeinschaft [MO 1037/10-1]
Ask authors/readers for more resources
Feature-based and holistic methods present two fundamentally different approaches to relative-pose estimation from pairs of camera images. Until now, there has been a lack of direct comparisons between these methods in the literature. This makes it difficult to evaluate their relative merits for their many applications in mobile robotics. In this work, we compare a selection of such methods in the context of an autonomous domestic cleaning robot. We find that the holistic Min-Warping method gives good and fast results. Some of the feature-based methods can provide excellent and robust results, but at much slower speeds. Other such methods also achieve high speeds, but at reduced robustness to illumination changes. We also provide novel image databases and supporting data for public use. (C) 2016 Elsevier B.V. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available