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

fYear

2008

fDate

23-28 June 2008

Firstpage

1

Lastpage

8

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition Workshops, 2008. CVPRW '08. IEEE Computer Society Conference on

Conference_Location

Anchorage, AK

ISSN

2160-7508

Print_ISBN

978-1-4244-2339-2

Electronic_ISBN

2160-7508

Type

conf

DOI

10.1109/CVPRW.2008.4563138

Filename

4563138