Selecting Promising Landmarks
Abstract
Many approaches to visual servoing and mobile robot navigation are based on tracking feature points or landmarks on images. But are all features points equally effective as landmarks? Here we develop methods for selecting within an image those landmarks which are both perceptually salient and visually distinctive, and consequently are readily recognized in a second image acquired from a different viewpoint. Empirically, we characterize the performance of the recognition method and then demonstrate that the selection process does in fact choose the landmarks which are more likely to be recognized.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2000
- Accession Number
- ADA640014
Entities
People
- David J. Kriegman
- Markus Knapek
- Ricardo S. Oropeza
Organizations
- University of Illinois Urbana–Champaign