Archivio Istituzionale della RicercaThe choice for image descriptor in a visual navigation system is not straightforward. Descriptors must be distinctive enough to allow for correct localization while still offering low matching complexity and short descriptor size for real-time applications. MPEG Compact Descriptor for Visual Search is a low complexity image descriptor that offers several levels of compromises between descriptor distinctiveness and size. In this work we describe how these trade-offs can be used for efficient loop-detection in a typical indoor environment.
Loop Detection in Robotic Navigation Using MPEG CDVS / PORTO BUARQUE DE GUSMAO, Pedro; Rosa, Stefano; Magli, Enrico; Lepsøy, S.; Francini, G.. - ELETTRONICO. - (2015), pp. 1-6. (Intervento presentato al convegno 2015 IEEE International Workshop on Multimedia Signal Processing nel 2015) [10.1109/MMSP.2015.7340871].
Loop Detection in Robotic Navigation Using MPEG CDVS
PORTO BUARQUE DE GUSMAO, PEDRO;ROSA, STEFANO;MAGLI, ENRICO;
2015
Abstract
The choice for image descriptor in a visual navigation system is not straightforward. Descriptors must be distinctive enough to allow for correct localization while still offering low matching complexity and short descriptor size for real-time applications. MPEG Compact Descriptor for Visual Search is a low complexity image descriptor that offers several levels of compromises between descriptor distinctiveness and size. In this work we describe how these trade-offs can be used for efficient loop-detection in a typical indoor environment.
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https://hdl.handle.net/11583/2638899
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