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Extension and evaluation of the AGAST feature detector

Zhang, Hongmou and Wohlfeil, Jürgen and Grießbach, Denis (2016) Extension and evaluation of the AGAST feature detector. In: XXIII ISPRS Congress annals 2016, III-4, pp. 133-137. ISPRS 2016 - XXIII ISPRS Congress, 12-19 July 2016, Prague, Czech republic. DOI: 10.5194/isprs-annals-III-4-133-2016

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Official URL: http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/III-4/133/2016/


Vision-aided inertial navigation is a navigation method which combines inertial navigation with computer vision techniques. It can provide a six degrees of freedom navigation solution from passive measurements without external referencing (e.g. GPS). Thus, it can operate in unknown environments without any prior knowledge. Such a system, called IPS (Integrated Positioning System) is developed by the German Aerospace Center (DLR). For optical navigation applications, a reliable and efficient feature detector is a crucial component. With the publication of AGAST, a new feature detector has been presented, which is faster than other feature detectors. To apply AGAST to optical navigation applications, we propose several methods to improve its performance. Based on a new non-maximum suppression algorithm, automatic threshold adaption algorithm in combination with an image split method, the optimized AGAST provides higher reliability and efficiency than the original implementation using the Kanade Lucas Tomasi (KLT) feature detector. Finally, we compare the performance of the optimized AGAST with the KLT feature detector in the context of IPS. The presented approach is tested using real data from typical indoor scenes, evaluated on the accuracy of the navigation solution. The comparison demonstrates a significant performance improvement achieved by the optimized AGAST.

Item URL in elib:https://elib.dlr.de/105294/
Document Type:Conference or Workshop Item (Speech)
Title:Extension and evaluation of the AGAST feature detector
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zhang, HongmouHongmou.Zhang (at) dlr.deUNSPECIFIED
Wohlfeil, Jürgenjuergen.wohlfeil (at) dlr.deUNSPECIFIED
Grießbach, Denisdenis.griessbach (at) dlr.deUNSPECIFIED
Date:July 2016
Journal or Publication Title:XXIII ISPRS Congress annals 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.5194/isprs-annals-III-4-133-2016
Page Range:pp. 133-137
Keywords:Feature detector, Vision-aided inertial navigation, AGAST, IPS, KLT
Event Title:ISPRS 2016 - XXIII ISPRS Congress
Event Location:Prague, Czech republic
Event Type:international Conference
Event Dates:12-19 July 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Earth Observation
DLR - Research area:Raumfahrt
DLR - Program:R EO - Erdbeobachtung
DLR - Research theme (Project):R - Vorhaben Anwendungn Optik: 3-D, Datenfusion, optische Navigation (old), R - Vorhaben Robotische Explorationstechnologie (old)
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems
Deposited By: Zhang, Hongmou
Deposited On:25 Jul 2016 14:57
Last Modified:31 Jul 2019 20:02

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