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Distinctive 3D surface entropy features for place recognition

: Fiolka, T.; Stückler, J.; Klein, D.A.; Schulz, D.; Behnke, S.


Institute of Electrical and Electronics Engineers -IEEE-:
European Conference on Mobile Robots, ECMR 2013. Conference Proceedings : Barcelona, Spain, September 25-27, 2013
Piscataway, NJ: IEEE, 2013
ISBN: 978-1-4799-0263-7
European Conference on Mobile Robots (ECMR) <6, 2013, Barcelona>
Conference Paper
Fraunhofer FKIE ()

In this paper, we present a variant of SURE, an interest point detector and descriptor for 3D point clouds and depth images and use it for recognizing semantically distinct places in indoor environments. The SURE interest operator selects distinctive points on surfaces by measuring the variation in surface orientation based on surface normals in the local vicinity of a point. Furthermore SURE includes a view-pose-invariant descriptor that captures local surface properties and incorporates colored texture information. In experiments, we compare our approach to a state-of-the-art feature detector in depth images (NARF). Finally, we evaluate the use of SURE features for recognizing places and demonstrate its advantages.