Bags of Binary Words for Fast Place Recognition in Image Sequences

We propose a novel method for visual place recognition using bag of words obtained from accelerated segment test (FAST)+BRIEF features. For the first time, we build a vocabulary tree that discretizes a binary descriptor space and use the tree to speed up correspondences for geometrical verification....

Full description

Saved in:

Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 28; no. 5; pp. 1188 - 1197
Main Authors:	Galvez-López, D., Tardos, J. D.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2012 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Acceleration Applied sciences Artificial intelligence Bag of binary words Cameras Computer science; control theory; systems computer vision Control theory. Systems Data processing. List processing. Character string processing Exact sciences and technology Feature extraction Geometry Indexes Memory organisation. Data processing Pattern recognition. Digital image processing. Computational geometry place recognition Robotics Robots simultaneous localization and mapping (SLAM) Software Vectors Vocabulary Cartography Computer vision Vocabulary Image recognition Tree(graph) Moving robot Competitiveness Information retrieval Pattern recognition simultaneous localization and mapping (SLAM) Binary code Robotics Bag of words Bag of binary words Binary descriptor place recognition Selection criterion Feature extraction Localization Pattern extraction Execution time
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Be the first to leave a comment!