Luthardt, Stefan ; Ziegler, Christoph ; Willert, Volker ; Adamy, Jürgen (2019):
How to Match Tracks of Visual Features for Automotive Long-Term SLAM.
2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, October 27-30, 2019, [Conference or Workshop Item]
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Luthardt_ITSC_2019_FeatureTracks.pdf - Accepted Version Available under: only the rights of use according to UrhG. Download (593kB) | Preview |
Item Type: | Conference or Workshop Item |
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Title: | How to Match Tracks of Visual Features for Automotive Long-Term SLAM |
Language: | English |
Abstract: | Accurate localization is a vital prerequisite for future assistance or autonomous driving functions in intelligent vehicles. To achieve the required localization accuracy and availability, long-term visual SLAM algorithms like LLama-SLAM are a promising option. In such algorithms visual feature tracks, i.e. landmark observations over several consecutive image frames, have to be matched to feature tracks recorded days, weeks or months earlier. This leads to a more challenging matching problem than in short-term visual localization and known descriptor matching methods cannot be applied directly. In this paper, we devise several approaches to compare and match feature tracks and evaluate their performance on a long-term data set. With the proposed descriptor combination and masking ("CoMa") method the best track matching performance is achieved with minor computational cost. This method creates a single combined descriptor for each feature track and furthermore increases the robustness by capturing the appearance variations of this track in a descriptor mask. |
Classification DDC: | 600 Technik, Medizin, angewandte Wissenschaften > 600 Technik 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften |
Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics |
Event Title: | 2019 IEEE Intelligent Transportation Systems Conference (ITSC) |
Event Location: | Auckland, New Zealand |
Event Dates: | October 27-30, 2019 |
Date Deposited: | 27 Sep 2019 07:55 |
Last Modified: | 09 Jul 2020 02:46 |
URN: | urn:nbn:de:tuda-tuprints-91082 |
URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/9108 |
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