Feature Tracking on Omnidirectional Images for Robot Navigation
Here a novel method for robustly tracking vertical features taken by omnidirectional images is developed. Matching robustness is achieved by means of a feature descriptor which is invariant to rotation and slight changes of illumination.
References
D. Scaramuzza, R. Siegwart, and A. Martinelli.
A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and its Use in Mobile Robotics.
International Journal on Robotics Research, Volume 28, issue 2, February, 2009.
[ PDF ] [Matlab code]
D. Scaramuzza, C. Pradalier, R. Siegwart.
Performance Evaluation of a Vertical Line Descriptor for Omnidirectional Images.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008.
[ PDF ]
D. Scaramuzza, N. Criblez, A. Martinelli, R. Siegwart.
Robust Feature Extraction and Matching for Omnidirectional Images.
Field and Service Robotics, Springer Tracts in Advanced Robotics Volume 42, pp 71-81, 2007.
[ PDF ]