Skip to main content
SpringerLink
Log in
Book cover

International Conference on Computer Aided Systems Theory

EUROCAST 2015: Computer Aided Systems Theory – EUROCAST 2015 pp 739–747Cite as

SIFT and SURF Performance Evaluation and the Effect of FREAK Descriptor in the Context of Visual Odometry for Unmanned Aerial Vehicles

  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 9520))

Abstract

Feature points detection and description play very important role in many of computer vision applications. Specifically in robot visual navigation systems (i.e. visual odometry or visual simultaneous localization and mapping), which need reliable high speed processing algorithms with low memory load. This paper presents a performance evaluation of the two robust feature detection/description algorithms (SIFT and SURF) with the effect of combining the FREAK descriptor. The performance of these algorithms was compared for the changes in noise, scale and rotation.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Nister, D., Naroditsky, O., Bergen, J.: Visual odometry. In: Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2004, vol. 1, pp. I-652–I-659 (2004)

    Google Scholar 

  2. Scaramuzza, D., Fraundorfer, F.: Visual odometry (Tutorial). IEEE Robot. Autom. Mag. 18(4), 80–92 (2011)

    Article  Google Scholar 

  3. Karlsson, N., Di Bernardo, E., Ostrowski, J., Goncalves, L., Pirjanian, P., Munich, M.E.: The vSLAM algorithm for robust localization and mapping. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, pp. 24–29 (2005)

    Google Scholar 

  4. Lowe, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60(2), 91–110 (2004)

    Article  Google Scholar 

  5. Bay, H., Tuytelaars, T., Van Gool, L.: SURF: speeded up robust features. In: Leonardis, A., Bischof, H., Pinz, A. (eds.) ECCV 2006, Part I. LNCS, vol. 3951, pp. 404–417. Springer, Heidelberg (2006)

    Chapter  Google Scholar 

  6. Rosten, E., Drummond, T.W.: Machine learning for high-speed corner detection. In: Leonardis, A., Bischof, H., Pinz, A. (eds.) ECCV 2006, Part I. LNCS, vol. 3951, pp. 430–443. Springer, Heidelberg (2006)

    Chapter  Google Scholar 

  7. Agrawal, M., Konolige, K., Blas, M.R.: CenSurE: center surround extremas for realtime feature detection and matching. In: Forsyth, D., Torr, P., Zisserman, A. (eds.) ECCV 2008, Part IV. LNCS, vol. 5305, pp. 102–115. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  8. Leutenegger, S., Chli, M., Siegwart, R.Y.: BRISK: binary robust invariant scalable keypoints. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2548–2555. IEEE (2011)

    Google Scholar 

  9. Calonder, M., Lepetit, V., Strecha, C., Fua, P.: BRIEF: binary robust independent elementary features. In: Daniilidis, K., Maragos, P., Paragios, N. (eds.) ECCV 2010, Part IV. LNCS, vol. 6314, pp. 778–792. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  10. Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: an efficient alternative to SIFT or SURF. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2564–2571, November 2011

    Google Scholar 

  11. Alahi, A., Ortiz, R., Vandergheynst, P.: FREAK: fast retina keypoint. In: IEEE Conference on Computer Vision and Pattern Recognition (2012)

    Google Scholar 

  12. Tuytelaars, T., Mikolajczyk, K.: Local invariant feature detectors: a survey. Found. Trends Comput. Graph. Vis. 3(3), 177–280 (2007)

    Article  Google Scholar 

  13. Mikolajczyk, K., Tuytelaars, T., Schmid, C., Zisserman, A., Matas, J., Schaffalitzky, F., Kadir, T., Gool, L.V.: A comparison of affine region detectors. Int. J. Comput. Vis. 65(1–2), 43–72 (2005)

    Article  Google Scholar 

  14. Schaeffer, C.: A comparison of keypoint descriptors in the context of pedestrian detection: FREAK vs. SURF vs. BRISK. Citeseer (2013)

    Google Scholar 

  15. Schmidt, A., Kraft, M., Fularz, M., Domagala, Z.: The comparison of point feature detectors and descriptors in the context of robot navigation. J. Autom. Mob. Robot. Intell. Syst. 7(1), 11–20 (2013)

    Google Scholar 

  16. AR. Drone 2.0. Parrot new wi-fi quadricopter - Civil drone - Parrot. http://ardrone2.parrot.com/. Cited March 2013

Download references

Author information

Authors and Affiliations

  1. Intelligent Systems Laboratory, Universidad Carlos III de Madrid, Avenida de la Universidad, 30, 28911, Leganés, Madrid, Spain

    Abdulla Al-Kaff, Arturo de la Escalera & José María Armingol

Authors
  1. Abdulla Al-Kaff
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Arturo de la Escalera
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. José María Armingol
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Abdulla Al-Kaff .

Editor information

Editors and Affiliations

  1. de Gran Canaria, Universidad de las Palmas de Gran Canari, Las Palmas de Gran Canaria, Spain

    Roberto Moreno-Díaz

  2. Johannes Kepler University Linz, Linz, Austria

    Franz Pichler

  3. de Gran Canaria, Universidad de las Palmas de Gran Canari, Las Palmas de Gran Canaria, Spain

    Alexis Quesada-Arencibia

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Al-Kaff, A., de la Escalera, A., Armingol, J.M. (2015). SIFT and SURF Performance Evaluation and the Effect of FREAK Descriptor in the Context of Visual Odometry for Unmanned Aerial Vehicles. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2015. EUROCAST 2015. Lecture Notes in Computer Science(), vol 9520. Springer, Cham. https://doi.org/10.1007/978-3-319-27340-2_91

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-27340-2_91

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27339-6

  • Online ISBN: 978-3-319-27340-2

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation