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Fast Sum of Absolute Differences Visual Landmark Detector

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dc.contributor.authorWatman, Craig
dc.contributor.authorAustin, David
dc.contributor.authorBarnes, Nicholas
dc.contributor.authorOverett, Gary
dc.contributor.authorThompson, Simon
dc.coverage.spatialNew Orleans USA
dc.date.accessioned2015-12-13T22:40:10Z
dc.date.available2015-12-13T22:40:10Z
dc.date.createdApril 26 2004
dc.date.issued2004
dc.date.updated2015-12-11T09:54:25Z
dc.description.abstractThis paper presents various optimisations that can be applied to the Sum of Absolute Differences (SAD) correlation algorithm for automated landmark detection. This has applications in mobile robotic navigation and mapping. We show how some assumptions about the environment and the generic form of strong landmarks selected by the SAD correlation algorithm have led to the development of an algorithm to enable near real time selection of strong landmarks from visual information. The landmarks that have been selected from a series of frames using our optimisations are shown to be stable through the image sequence, demonstration the scale invariance of the landmarks that are selected by the SAD correlation algorithm.
dc.identifier.isbn0780382323
dc.identifier.urihttp://hdl.handle.net/1885/78120
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2004)
dc.sourceProceedings of the 2004 IEEE International Conference on Robotics and Automation
dc.source.urihttp://ieeexplore.ieee.org/xpl/RecentCon.jsp?puNumber=9126
dc.subjectKeywords: Algorithms; Correlation methods; Information retrieval; Mapping; Navigation; Optimization; Problem solving; Tracking (position); Mobile robotic navigation; Normalized cross correlation (NCC); Sum of absolute differences (SAD); Visual landmark detector; Mo
dc.titleFast Sum of Absolute Differences Visual Landmark Detector
dc.typeConference paper
local.bibliographicCitation.lastpage4832
local.bibliographicCitation.startpage4827
local.contributor.affiliationWatman, Craig, College of Engineering and Computer Science, ANU
local.contributor.affiliationAustin, David, College of Engineering and Computer Science, ANU
local.contributor.affiliationBarnes, Nicholas, University of Melbourne
local.contributor.affiliationOverett, Gary, College of Engineering and Computer Science, ANU
local.contributor.affiliationThompson, Simon, National Institute of Advanced Industrial Science and Technology
local.contributor.authoruidWatman, Craig, u4070823
local.contributor.authoruidAustin, David, u4020638
local.contributor.authoruidOverett, Gary, u3357961
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor080101 - Adaptive Agents and Intelligent Robotics
local.identifier.ariespublicationMigratedxPub6803
local.identifier.scopusID2-s2.0-3042601272
local.type.statusPublished Version

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