NDLI: Comparison of local image descriptors for full 6 degree-of-freedom pose estimation

Content Provider	IEEE Xplore Digital Library
Author	Viksten, F. Forssen, P.-E. Johansson, B. Moe, A.
Copyright Year	2009
Description	Author affiliation: SICK-IVP, Wallenbergs gata 4, 583 35 Linköping, Sweden (Johansson, B.; Moe, A.) \|\| Division of Information Coding, Dept. of Electrical Engineering, University of Linköping, 581 83, Sweden (Viksten, F.) \|\| Computer Vision Laboratory, Dept. of Electrical Engineering, University of Linköping, 581 83, Sweden (Forssen, P.-E.)
Abstract	Recent years have seen advances in the estimation of full 6 degree-of-freedom object pose from a single 2D image. These advances have often been presented as a result of, or together with, a new local image descriptor. This paper examines how the performance for such a system varies with choice of local descriptor. This is done by comparing the performance of a full 6 degree-of-freedom pose estimation system for fourteen types of local descriptors. The evaluation is done on a database with photos of complex objects with simple and complex backgrounds and varying lighting conditions. From the experiments we can conclude that duplet features, that use pairs of interest points, improve pose estimation accuracy, and that affine covariant features do not work well in current pose estimation frameworks. The data sets and their ground truth is available on the web to allow future comparison with novel algorithms.
Starting Page	2779
Ending Page	2786
File Size	680420
Page Count	8
File Format	PDF
ISBN	9781424427888
ISSN	10504729
DOI	10.1109/ROBOT.2009.5152360
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-05-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness State estimation Object recognition Robotics and automation Image databases Spatial databases Toy industry Augmented reality Consumer products Home appliances
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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