Fast sum of absolute differences visual landmark detector

Craig Watman; David Austin; Nick Barnes; Gary Overett; Simon Thompson

doi:10.1109/robot.2004.1302482

Fast sum of absolute differences visual landmark detector

Craig Watman^*, David Austin, Nick Barnes, Gary Overett, Simon Thompson

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

26 Citations (Scopus)

Abstract

This paper presents various optimisations that can be applied to the Sum of Absolute Differences (SAD) correlation algorithm for automated landmark detection. This has applications in mobile robotic navigation and mapping. We show how some assumptions about the environment and the generic form of strong landmarks selected by the SAD correlation algorithm have led to the development of an algorithm to enable near real time selection of strong landmarks from visual information. The landmarks that have been selected from a series of frames using our optimisations are shown to be stable through the image sequence, demonstration the scale invariance of the landmarks that are selected by the SAD correlation algorithm.

Original language	English
Pages (from-to)	4827-4832
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	5
DOIs	https://doi.org/10.1109/robot.2004.1302482
Publication status	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004

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10.1109/robot.2004.1302482

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AU - Barnes, Nick

AU - Overett, Gary

AU - Thompson, Simon

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AB - This paper presents various optimisations that can be applied to the Sum of Absolute Differences (SAD) correlation algorithm for automated landmark detection. This has applications in mobile robotic navigation and mapping. We show how some assumptions about the environment and the generic form of strong landmarks selected by the SAD correlation algorithm have led to the development of an algorithm to enable near real time selection of strong landmarks from visual information. The landmarks that have been selected from a series of frames using our optimisations are shown to be stable through the image sequence, demonstration the scale invariance of the landmarks that are selected by the SAD correlation algorithm.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

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T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

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Fast sum of absolute differences visual landmark detector

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