The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLII-3/W1
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-3/W1, 149–154, 2017
https://doi.org/10.5194/isprs-archives-XLII-3-W1-149-2017
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-3/W1, 149–154, 2017
https://doi.org/10.5194/isprs-archives-XLII-3-W1-149-2017

  25 Jul 2017

25 Jul 2017

A PERFORMANCE COMPARISON OF FEATURE DETECTORS FOR PLANETARY ROVER MAPPING AND LOCALIZATION

W. Wan1, M. Peng1, Y. Xing2, Y. Wang1, Z. Liu1, K. Di1, B. Teng2, X. Mao2, Q. Zhao1, X. Xin1, and M. Jia1 W. Wan et al.
  • 1State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing, China
  • 2Beijing Institute of Control Engineering, Beijing, China

Keywords: Feature detector, feature matching, SIFT, planetary rover, stereo images

Abstract. Feature detection and matching are key techniques in computer vision and robotics, and have been successfully implemented in many fields. So far there is no performance comparison of feature detectors and matching methods for planetary mapping and rover localization using rover stereo images. In this research, we present a comprehensive evaluation and comparison of six feature detectors, including Moravec, Förstner, Harris, FAST, SIFT and SURF, aiming for optimal implementation of feature-based matching in planetary surface environment. To facilitate quantitative analysis, a series of evaluation criteria, including distribution evenness of matched points, coverage of detected points, and feature matching accuracy, are developed in the research. In order to perform exhaustive evaluation, stereo images, simulated under different baseline, pitch angle, and interval of adjacent rover locations, are taken as experimental data source. The comparison results show that SIFT offers the best overall performance, especially it is less sensitive to changes of image taken at adjacent locations.