Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry

Yusefi, Abdullah; DURDU, Akif

doi:10.31590/ejosat.819735

Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry

Abdullah Yusefi, (Konya Teknik Üniversitesi, Mühendislik ve Doğa Bilimleri Fakültesi, Bilgisayar Mühendisliği Bölümü, Konya, Türkiye)

Akif Durdu (Konya Teknik Üniversitesi, Mühendislik ve Doğa Bilimleri Fakültesi, Elektrik Elektronik Mühendisliği Bölümü, Türkiye)

Avrupa Bilim ve Teknoloji Dergisi

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Yıl: 2020 Cilt: 0 Sayı: Ejosat Özel Sayı 2020 (ICCEES) Sayfa Aralığı: 455 - 460 Metin Dili: İngilizce DOI: 10.31590/ejosat.819735 İndeks Tarihi: 31-10-2022

Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry

Öz:

In recent years there has been a great deal of research and study in the field of visual odometry, which has led to the development of practical processes such as visual based measurement in robotics and automotive technology. Direct methods, feature-based methods and hybrid methods are three common approaches in solving visual odometry problems and given the general belief that feature-based approach speeds are higher, this approach has been welcomed in recent years. Therefore, an attempt has been made in the present study to calculate the transformation matrix of two-dimensional sequential image sets using invariant features that can estimate the changes in camera rotation and translation. In the algorithm, two-steps of identifying keypoints and removing outliers are performed using five different local feature detection algorithms (SURF, SIFT, FAST, STAR, ORB) and RANdom SAmple Consensus algorithm (RANSAC), respectively. In addition, the impact of each of them, their intrinsic parameters and dynamic noise on the accuracy of the transformation matrix are evaluated and analyzed in terms of rotational MSE and computational runtime.

Anahtar Kelime: Visual Odometry Image Processing Invariant Features Local Feature Detection Keypoints RANSAC Transformation Matrix

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

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APA	Yusefi A, DURDU A (2020). Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. , 455 - 460. 10.31590/ejosat.819735
Chicago	Yusefi Abdullah,DURDU Akif Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. (2020): 455 - 460. 10.31590/ejosat.819735
MLA	Yusefi Abdullah,DURDU Akif Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. , 2020, ss.455 - 460. 10.31590/ejosat.819735
AMA	Yusefi A,DURDU A Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. . 2020; 455 - 460. 10.31590/ejosat.819735
Vancouver	Yusefi A,DURDU A Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. . 2020; 455 - 460. 10.31590/ejosat.819735
IEEE	Yusefi A,DURDU A "Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry." , ss.455 - 460, 2020. 10.31590/ejosat.819735
ISNAD	Yusefi, Abdullah - DURDU, Akif. "Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry". (2020), 455-460. https://doi.org/10.31590/ejosat.819735

APA	Yusefi A, DURDU A (2020). Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. Avrupa Bilim ve Teknoloji Dergisi, 0(Ejosat Özel Sayı 2020 (ICCEES)), 455 - 460. 10.31590/ejosat.819735
Chicago	Yusefi Abdullah,DURDU Akif Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. Avrupa Bilim ve Teknoloji Dergisi 0, no.Ejosat Özel Sayı 2020 (ICCEES) (2020): 455 - 460. 10.31590/ejosat.819735
MLA	Yusefi Abdullah,DURDU Akif Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. Avrupa Bilim ve Teknoloji Dergisi, vol.0, no.Ejosat Özel Sayı 2020 (ICCEES), 2020, ss.455 - 460. 10.31590/ejosat.819735
AMA	Yusefi A,DURDU A Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. Avrupa Bilim ve Teknoloji Dergisi. 2020; 0(Ejosat Özel Sayı 2020 (ICCEES)): 455 - 460. 10.31590/ejosat.819735
Vancouver	Yusefi A,DURDU A Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry. Avrupa Bilim ve Teknoloji Dergisi. 2020; 0(Ejosat Özel Sayı 2020 (ICCEES)): 455 - 460. 10.31590/ejosat.819735
IEEE	Yusefi A,DURDU A "Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry." Avrupa Bilim ve Teknoloji Dergisi, 0, ss.455 - 460, 2020. 10.31590/ejosat.819735
ISNAD	Yusefi, Abdullah - DURDU, Akif. "Performance and Trade-off Evaluation of SIFT, SURF, FAST, STAR and ORB feature detection algorithms in Visual Odometry". Avrupa Bilim ve Teknoloji Dergisi Ejosat Özel Sayı 2020 (ICCEES) (2020), 455-460. https://doi.org/10.31590/ejosat.819735