Evaluation of Image Detection and Description Algorithms for Application in Monocular SLAM

Abstract

The results of new experiments on the detection and description of images for an EKF-SLAM monocular application are employed in order to obtain a dispersed set of features without related data association problems. By means of different detectors/descriptors, the number of features observed and the ability to observe the same feature in various captures is evaluated. To this end, a monocular vision system independent of the EKF-SLAM system is designed and implemented using the MatLab software. This new system allows for—in addition to image capture—the detection and description of features as well as the association of data between images, thus serving as a priori information to avoid incorrect associations between the obtained features and the map of an EKF-SLAM system. Additionally, it enables the evaluation and comparison of the precision, consistency and convergence of various algorithms.