期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/62162
语种：English
出版社：SAGE Publications
摘要：The introduction of computationally efficient binary feature descriptors has raised new opportunities for real-world robot vision applications. However, brute force feature matching of binary descriptors is only practical for smaller datasets. In the literature, there has therefore been an increasing interest in representing and matching binary descriptors more efficiently. In this article, we follow this trend and present a method for efficiently and dynamically quantizing binary descriptors through a summarized frequency count into compact representations (called fsum) for improved feature matching of binary point-features. With the motivation that real-world robot applications must adapt to a changing environment, we further present an overview of the field of algorithms, which concerns the efficient matching of binary descriptors and which are able to incorporate changes over time, such as clustered search trees and bag-of-features improved by vocabulary adaptation. The focus for this article is on evaluation, particularly large scale evaluation, compared to alternatives that exist within the field. Throughout this evaluation it is shown that the fsum approach is both efficient in terms of computational cost and memory requirements, while retaining adequate retrieval accuracy. It is further shown that the presented algorithm is equally suited to binary descriptors of arbitrary type and that the algorithm is therefore a valid option for several types of vision applications.
