NDLI: FLIRT - Interest regions for 2D range data

Content Provider	IEEE Xplore Digital Library
Author	Tipaldi, G.D. Arras, K.O.
Copyright Year	2010
Description	Author affiliation: Social Robotics Lab, Department of Computer Science, Albert-Ludwigs-University of Freiburg, 79110, Germany (Tipaldi, G.D.; Arras, K.O.)
Abstract	Local image features are used for a wide range of applications in computer vision and range imaging. While there is a great variety of detector-descriptor combinations for image data and 3D point clouds, there is no general method readily available for 2D range data. For this reason, the paper first proposes a set of benchmark experiments on detector repeatability and descriptor matching performance using known indoor and outdoor data sets for robot navigation. Secondly, the paper introduces FLIRT that stands for Fast Laser Interest Region Transform, a multi-scale interest region operator for 2D range data. FLIRT combines the best detector with the best descriptor, experimentally found in a comprehensive analysis of alternative detector and descriptor approaches. The analysis yields repeatability and matching performance results similar to the values found for features in the computer vision literature, encouraging a wide range of applications of FLIRT on 2D range data. We finally show how FLIRT can be used in conjunction with RANSAC to address the loop closing/global localization problem in SLAM in indoor as well as outdoor environments. The results demonstrate that FLIRT features have a great potential for robot navigation in terms of precision-recall performance, efficiency and generality.
Starting Page	3616
Ending Page	3622
File Size	2102497
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509864
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Detectors Computer vision Robots Navigation Laplace equations Application software Clouds Simultaneous localization and mapping Layout Level measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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