Paper Info
Title
Matching Risk for Feature Selection in Visual SLAM
Abstract
Estimating the position of a feature point is very important for the performance of visual simultaneous localization and mapping (SLAM). However, various factors, such as camera motion and matching result, influence the estimation accuracy of feature point position. This paper presents a feature-selection method based on matching risk estimation in visual SLAM. The matching risk is estimated for each feature point in the image. In addition, only the feature points with low matching risk are used in triangulation. The performance of the triangulation and visual SLAM applying the proposed method is demonstrated using simulation and experiments, respectively.
Year
DOI
Venue
2018
10.1016/j.ifacol.2018.11.532
IFAC-PapersOnLine
Keywords
DocType
Volume
SLAM,Feature Selection,Triangulation
Conference
51
Issue
ISSN
Citations 
22
2405-8963
0
PageRank 
References 
Authors
0.34
2
4
Name
Order
Citations
PageRank
Chul-hong Kim121.04
Tae-Jae Lee2326.98
Dong-Il Dan Cho3179.99
Dong-Il Dan Cho4179.99