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首页> 外文会议>International symposium on experimental robotics;ISER'11; 20080713-16;20080713-16; Athens(GR);Athens(GR) >Scale Invariant Detection and Tracking of Elongated Structures
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Scale Invariant Detection and Tracking of Elongated Structures

机译：伸缩结构的尺度不变性检测和跟踪

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摘要

This paper describes a method for the detection of tracking of elongated structures that is robust under changes of scale and orientation. This method is based on extending the concept of scale invariant natural interest points to include elongated ridge structures. An operator is proposed that directly detects ridge points and provides an estimation of their elongation and orientation. A tracking process is used to follow elongated features over time and to robustly observe changes in scale and orientation. Changes in scale are used to directly estimate time to contact. Experimental results demonstrate that the method works well in cluttered scenes that are typical of urban environments.
机译：本文介绍了一种用于检测细长结构的跟踪方法，该方法在尺度和方向变化时会很健壮。该方法基于将尺度不变自然兴趣点的概念扩展到包括拉长的山脊结构。提出了一种可以直接检测脊点并提供其伸长和方向估计的操作员。跟踪过程用于跟踪随时间变化的细长特征，并可靠地观察比例和方向的变化。规模变化用于直接估计联系时间。实验结果表明，该方法在城市环境典型的混乱场景中效果很好。

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