A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in visionbased simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriate landmark detector and descriptor for visual SLAM. Keywords Interest point detectors

• Type: Journal
• Year: 2010
• Where: MVA
• Authors: Arturo Gil, Óscar Martínez Mozos, Mónica Ballesta, Óscar Reinoso
• Keywords: Computer Vision, Detectors, Interest Point Detectors, MVA 2010, Visual Slam