Title :
Improving RANSAC for fast landmark recognition
Author :
Marquez-Neila, Pablo ; Miro, Jacobo Garcia ; Buenaposada, Jose M. ; Baumela, Luis
Author_Institution :
Dep. Intel. Artificial, Univ. Politec. de Madrid, Madrid
Abstract :
We introduce a procedure for recognizing and locating planar landmarks for mobile robot navigation, based in the detection and recognition of a set of interest points. We use RANSAC for fitting a homography and locating the landmark. Our main contribution is the introduction of a geometrical constraint that reduces the number of RANSAC iterations by discarding minimal subsets. In the experiments conducted we conclude that this constraint increases RANSAC performance by reducing in about 35% and 75% the number of iterations for affine and projective cameras, respectively.
Keywords :
image recognition; mobile robots; path planning; random processes; robot vision; RANSAC iteration; geometrical constraint; homography; landmark location; landmark recognition; mobile robot navigation; random sample consensus; Cameras; Detectors; Feature extraction; Jacobian matrices; Mobile robots; Navigation; Robot kinematics; Robotics and automation; Simultaneous localization and mapping; Visual databases;
Conference_Titel :
Computer Vision and Pattern Recognition Workshops, 2008. CVPRW '08. IEEE Computer Society Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-2339-2
Electronic_ISBN :
2160-7508
DOI :
10.1109/CVPRW.2008.4563138
