Steerable Filters for Rotation Invariant Salient Feature Points Applied to Monocular SLAM

Younès Raoui, El Houssine Bouyakhf

Abstract

In this paper, we propose a new detector descriptor for the visual salient points and use it for a monocular visual Simultaneous Localization and Mapping (visualSLAM) application. Because in SLAM, the landmarks should be indexed with distinctive features, we aim to build a detector descriptor insuring the invariance to the rotation and the scale. First, the detector starts filtering an image with a steerable filter set, extracts Harris corners from the convolved image, next it clusters these corners, then it calculates a resulting set of feature points. We show that the repeatability of the detector is higher that other detectors like SIFT, SURF, CENSURE and BRISC. In addition, we implement the descriptor using color attributes. We represent the color at the location of each feature point with a pyramid characterized with many levels of quantization, and we calculate the entropy at each level. We make a simulation of Visual SLAM with known correspondences using these features to prove their efficiency in the localization and the map management of the robot.

References

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Paper Citation


in Harvard Style

Raoui Y. and Bouyakhf E. (2016). Steerable Filters for Rotation Invariant Salient Feature Points Applied to Monocular SLAM . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 567-572. DOI: 10.5220/0006007205670572


in Bibtex Style

@conference{icinco16,
author={Younès Raoui and El Houssine Bouyakhf},
title={Steerable Filters for Rotation Invariant Salient Feature Points Applied to Monocular SLAM},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={567-572},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006007205670572},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Steerable Filters for Rotation Invariant Salient Feature Points Applied to Monocular SLAM
SN - 978-989-758-198-4
AU - Raoui Y.
AU - Bouyakhf E.
PY - 2016
SP - 567
EP - 572
DO - 10.5220/0006007205670572