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Orientation based multi-scale corner detection for mobile robot application

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3 Author(s)
Sungho Kim ; Dept. of Electron. Eng., Yeungnam Univ., Gyeongsan, South Korea ; In So Kweon ; Wang-Heon Lee

The accuracy and robustness of SLAM critically depend on the properties of feature points. This paper presents a robust corner detection method suitable for indoor mobile robot navigation. We combine the advantages of edge-based corner detection and intensity-based corner detection. Orientation field estimation followed by image-based curvature estimation can detect corners stably and accurately. Experimental results validate the robustness of the proposed corner detector in indoor environments.

Published in:

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Date of Conference:

17-21 Oct. 2012

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