An efficient algorithm for matching of SLAM video sequences

Jose A. González-Fraga; Victor H. Diaz-Ramirez; Vitaly Kober; Juan J. Tapia-Higuera; Omar Alvarez-Xochihua

doi:10.1117/12.2236759

28 September 2016 An efficient algorithm for matching of SLAM video sequences

Jose A. González-Fraga, Victor H. Diaz-Ramirez, Vitaly Kober, Juan J. Tapia-Higuera, Omar Alvarez-Xochihua

Proceedings Volume 9971, Applications of Digital Image Processing XXXIX; 99712Z (2016) https://doi.org/10.1117/12.2236759
Event: SPIE Optical Engineering + Applications, 2016, San Diego, California, United States

Abstract

In this work, we propose a new algorithm for matching of coming video sequences to a simultaneous localization and mapping system based on a RGB-D camera. Basically, this system serves for estimation in real-time the trajectory of camera motion and generates a 3D map of indoor environment. The proposed algorithm is based on composite correlation filters with adjustable training sets depending on appearance of indoor environment as well as relative position and perspective from the camera to environment components. The algorithm is scale-invariant because it utilizes the depth information from RGB-D camera. The performance of the proposed algorithm is evaluated in terms of accuracy, robustness, and processing time and compared with that of common feature-based matching algorithms based on the SURF descriptor.

Citation Download Citation

Jose A. González-Fraga, Victor H. Diaz-Ramirez, Vitaly Kober, Juan J. Tapia-Higuera, and Omar Alvarez-Xochihua "An efficient algorithm for matching of SLAM video sequences", Proc. SPIE 9971, Applications of Digital Image Processing XXXIX, 99712Z (28 September 2016); https://doi.org/10.1117/12.2236759

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