Reducing mismatching under time-pressure by reasoning about visibility and occlusion

Conference item

Three methods are explored which help indicate whether feature points are potentially visible or occluded in the matching phase of the keyframe-based real-time visual SLAM system. The first derives a measure of potential visibility from the angular proximity to keyframes in which they were observed and globally adjusted, and preferentially selects those with high visibility when tracking the camera position between keyframes. It is found that sorting and selecting features within image bins s...

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Authors: Wangsiripitak, S; Murray, D

• Publisher: British Machine Vision Association, BMVA
• Host title: British Machine Vision Conference, BMVC 2010 - Proceedings
• Publication date: 2010-01-01
• DOI: 10.5244/C.24.54