Improved Signal To Noise Ratio And Computational Speed For Gradient-Based Detection Algorithms

— Image gradient-based feature detectors offer great advantages over their standard edge-only equivalents. In driver support systems research, the radial symmetry detection algorithm has given real-time results for speed sign recognition. The regular polygon detector is a scan line algorithm for these features facilitating recognition of other road signs such as stop and give way signs. Radial symmetry has also been applied to real-time face detection, and the polygon detector is showing promising results as a feature detector for SLAM. However, gradient-based feature detection is more sensitive to noise than standard edge-based algorithms. As the total gradient magnitude at a pixel decreases, the component of the gradient at that point that arises from image noise increases. When a pixel votes in its gradient direction out to an extended radius, its position is more likely to be inaccurate if the gradient magnitude is low. In this paper, we analyse the performance of the radial symm...

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Nick Barnes
• Keywords: Gradient Magnitude, ICRA 2005, Polygon Detector, Regular Polygon Detector, Robotics