Evaluation of color and texture descriptors for matching of planar surfaces in global localization scheme
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- 作者：Damir Filko ; damir.filko@etfos.hr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Robert Cupec robert.cupec@etfos.hr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Emmanuel Karlo Nyarko nyarko@etfos.hr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：3D planar features ; Color ; Texture ; Global localization ; Place recognition
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：June 2016
- 年：2016
- 卷：80
- 期：Complete
- 页码：55-68
- 全文大小：3165 K
文摘
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Indoor global localization system based on planar segments with visual descriptors.
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Applicability of 6 color and 3 texture descriptors is systematically analyzed.
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Performance increase in initial correspondence and pose hypothesis evaluation phases.
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Evaluation benchmark for visual descriptors in global localization is proposed.