Robotics and Computer Vision Lab

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저 자 Jungho Kim, Hyeongwoo Kim, In So Kweon
학 회 The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI)
논문일시(Year) 2007
논문일시(Month) 11
Recently, many vision-based robotic applications
such as visual SLAM (Simultaneous Localization And Mapping)
and autonomous navigation have achieved good performance
using visual features. In these applications, robust feature
tracking plays an important role, e.g., in scene recognition
for autonomous navigation and in data association for visual
SLAM. In this paper, we propose a hierarchical outlier detection
algorithm for robust feature tracking; the algorithm uses a
simple window-based correlation (NCC) and enforces angular
and scale constraints. The proposed algorithm maximizes the
inter-cluster score and detects outliers that do not satisfy
the angular constraints. The remaining outliers are detected
by enforcing scale constraints using SIFT descriptors. The
proposed algorithm is efficient and particularly useful for
scene recognition, in which an image corresponding to a query
image is searched among data images. Experimental results
demonstrate that the proposed algorithm is robust to outliers
and image variations such as scale changes. One of the main
applications of the proposed algorithm is global localization due
to its low computational complexity and robustness to outliers.

 


List of Articles
90. 조명 모델 기반 첵 검사기 개발
Jongeun Ha, Joonhyuk Cha, In So Kweon
기계의 날 선포 및 2002년도 기계관련 산학연 연합심포지엄(대한기계학회) 2002 / 11
89. Estimating Intrinsic Parameters of Cameras using Two Arbitrary Rectangles
Jun-sik Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
88. A Fast and stable snake algorithm for medical images
Dongjoong Kang, In So Kweon
Pattern Recognition Letters 1999 / 05
87. 칼라 히스토그램 기반 객체 추적을 위한 최적 히스토그램 빈 해상도 사전 결정 방법
Youngsu Moon, Changyeong Kim, In So Kweon
14th Workshop on Image Processing and Image Understanding (IPIU), Jeju, Korea 2002 / 01
86. A fast and stable method for detecting and tracking medical organs in MRI sequences
Dongjoong Kang, Changyeong Kim, Seo Yang-Seok, In So Kweon
IEICE Transactions on Information and Systems 1999 / 02
85. 영상의 통계적 특성과 퍼지추론식 문턱치 결정방법을 이용한 윤곽선의 고속 자동추출
Dongsu Kim, In So Kweon
14th Workshop on Image Processing and Image Understanding (IPIU) 2002 / 01
84. Multi-Modal Sequential Monte Carlo for On-Line Hierarchical Graph Structure Estimation in Model-based Scene Interpretation
Sungho Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
83. Automatic Extraction of Parallel Lines in Catadioptric Images
Jean-Charles Bazin, In So Kweon
Proc. of 13th IEEE International Conference on Advanced Robotics (IEEE ICAR'07) 2007 / 08
82. 특징량 매칭과 추적 기술의 결합에 의한 강인한 모델 기반 3-D 물체 인식
Sungho Kim, 김인철, In So Kweon
기계의 날 선포 및 2002년도 기계관련 산학연 연합심포지엄(대한기계학회) 2002 / 11
81. Simultaneous Classification and Visual Word Selection using Entropy-based Minimum Description Length
Sungho Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
80. Perceived Illumination Measured
Changyeong Kim, S. Petrov, Seo Yang-Seok, In So Kweon
Color Research and Application 1998 / 01
79. Fast Central Catadioptric Line Extraction
Jean-Charles Bazin, Cedric Demonceaux, Pascal Vasseur
Proc. of 3rd Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA’07) 2007 / 06
78. 지역 Zernike 모멘트를 이용한 모델 기반 확률적 물체 인식
Sungho Kim, 김인철, In So Kweon
14th Workshop on Image Processing and Image Understanding (IPIU) 2002 / 01
77. Background Robust Object Labeling by Voting of Weight-Aggregated Local Features
Sungho Kim, Kukjin Yoon, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
76. Object Recognition using Generalized Robust Invariant Feature and Gestalt Law of Proximity and Similarity
Sungho Kim, Kukjin Yoon, In So Kweon
5th IEEE Workshop on Perceptual Organization in Computer Vision (CVPRW) 2006 / 06
75. 조명불변 운동추정을 위한 적응적 국부 영상 정규화
Youngsu Moon, Changyeong Kim, In So Kweon
13th Workshop on Image Processing and Image Understanding (IPIU) 2001 / 01
» Efficient Feature Tracking for Visual SLAM by Pairwise Constraints
Jungho Kim, Hyeongwoo Kim, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
73. COP: A new method for extracting edges and corners
Suncheol Bae, In So Kweon, ChoongDon Yoo
Lecture Notes in Computer Science (LNCS) 2006 / 01
72. Photo hull 완화를 위한 확률기반 복셀 칼라링
Howon Kim, 정윤수, In So Kweon
13th Workshop on Image Processing and Image Understanding (IPIU) 2001 / 01
71. Cosegmentation as a Generalized Correspondence Problem -A Motion Model Driven Approach
Ouk Choi, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
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