Color-based scale-invariant feature detection applied in robot vision

Jian Gao; Xinhan Huang; Gang Peng; Min Wang; Xinde Li

doi:10.1117/12.749180

14 November 2007 Color-based scale-invariant feature detection applied in robot vision

Jian Gao, Xinhan Huang, Gang Peng, Min Wang, Xinde Li

Author Affiliations +

Proceedings Volume 6790, MIPPR 2007: Remote Sensing and GIS Data Processing and Applications; and Innovative Multispectral Technology and Applications; 67904E (2007) https://doi.org/10.1117/12.749180
Event: International Symposium on Multispectral Image Processing and Pattern Recognition, 2007, Wuhan, China

Abstract

The scale-invariant feature detecting methods always require a lot of computation yet sometimes still fail to meet the real-time demands in robot vision fields. To solve the problem, a quick method for detecting interest points is presented. To decrease the computation time, the detector selects as interest points those whose scale normalized Laplacian values are the local extrema in the nonholonomic pyramid scale space. The descriptor is built with several subregions, whose width is proportional to the scale factor, and the coordinates of the descriptor are rotated in relation to the interest point orientation just like the SIFT descriptor. The eigenvector is computed in the original color image and the mean values of the normalized color g and b in each subregion are chosen to be the factors of the eigenvector. Compared with the SIFT descriptor, this descriptor's dimension has been reduced evidently, which can simplify the point matching process. The performance of the method is analyzed in theory in this paper and the experimental results have certified its validity too.

Citation Download Citation

Jian Gao, Xinhan Huang, Gang Peng, Min Wang, and Xinde Li "Color-based scale-invariant feature detection applied in robot vision", Proc. SPIE 6790, MIPPR 2007: Remote Sensing and GIS Data Processing and Applications; and Innovative Multispectral Technology and Applications, 67904E (14 November 2007); https://doi.org/10.1117/12.749180

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