A review of feature detection and match algorithms for localization and mapping

摘要

Localization and mapping is an essential ability of a robot to keep track of its own location in an unknown environment. Among existing methods for this purpose, vision-based methods are more effective solutions for being accurate, inexpensive and versatile. Vision-based methods can generally be categorized as feature-based approaches and appearance-based approaches. The feature-based approaches prove higher performance in textured scenarios. However, their performance depend highly on the applied feature-detection algorithms. In this paper, we surveyed algorithms for feature detection, which is an essential step in achieving vision-based localization and mapping. In this pater, we present mathematical models of the algorithms one after another. To compare the performances of the algorithms, we conducted a series of experiments on their accuracy, speed, scale invariance and rotation invariance. The results of the experiments showed that ORB is the fastest algorithm in detecting and matching features, the speed of which is more than 10 times that of SURF and approximately 40 times that of SIFT. And SIFT, although with no advantage in terms of speed, shows the most correct matching pairs and proves its accuracy.