Design and Identification of Keypoint Patches in Unstructured Environments

Autor:	Park, Taewook, Kim, Seunghwan, Oh, Hyondong
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition
Druh dokumentu:	Working Paper
Popis:	Reliable perception of targets is crucial for the stable operation of autonomous robots. A widely preferred method is keypoint identification in an image, as it allows direct mapping from raw images to 2D coordinates, facilitating integration with other algorithms like localization and path planning. In this study, we closely examine the design and identification of keypoint patches in cluttered environments, where factors such as blur and shadows can hinder detection. We propose four simple yet distinct designs that consider various scale, rotation and camera projection using a limited number of pixels. Additionally, we customize the Superpoint network to ensure robust detection under various types of image degradation. The effectiveness of our approach is demonstrated through real-world video tests, highlighting potential for vision-based autonomous systems. Comment: 12 pages, 8 figures, 7 tables
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2410.00521 Zobrazit plný text záznamu View this record from Arxiv