Pugeault, N. and Krüger, N. (2011) Temporal accumulation of oriented visual features. Journal of Visual Communication and Image Representation, 22(2), pp. 153-163. (doi: 10.1016/j.jvcir.2010.12.001)
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Abstract
In this paper we present a framework for accumulating on-line a model of a moving object (e.g., when manipulated by a robot). The proposed scheme is based on Bayesian filtering of local features, filtering jointly position, orientation and appearance information. The work presented here is novel in two aspects: first, we use an estimation mechanism that updates iteratively not only geometrical information, but also appearance information. Second, we propose a probabilistic version of the classical n-scan criterion that allows us to select which features are preserved and which are discarded, while making use of the available uncertainty model. The accumulated representations have been used in three different contexts: pose estimation, robotic grasping, and driver assistance scenario.
| Item Type: | Articles |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Pugeault, Dr Nicolas |
| Authors: | Pugeault, N., and Krüger, N. |
| College/School: | College of Science and Engineering > School of Computing Science |
| Journal Name: | Journal of Visual Communication and Image Representation |
| Publisher: | Elsevier |
| ISSN: | 1047-3203 |
| ISSN (Online): | 1095-9076 |
| Published Online: | 14 December 2010 |
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