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A Generalised Framework for Saliency-Based Point Feature Detection

Brown, Mark, Windridge, David and Guillemaut, Jean-Yves (2016) A Generalised Framework for Saliency-Based Point Feature Detection Computer Vision and Image Understanding, 157. pp. 117-137.

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Here we present a novel, histogram-based salient point feature detector that may naturally be applied to both images and 3D data. Existing point feature detectors are often modality specific, with 2D and 3D feature detectors typically constructed in separate ways. As such, their applicability in a 2D-3D context is very limited, particularly where the 3D data is obtained by a LiDAR scanner. By contrast, our histogram-based approach is highly generalisable and as such, may be meaningfully applied between 2D and 3D data. Using the generalised approach, we propose salient point detectors for images, and both untextured and textured 3D data. The approach naturally allows for the detection of salient 3D points based jointly on both the geometry and texture of the scene, allowing for broader applicability. The repeatability of the feature detectors is evaluated using a range of datasets including image and LiDAR input from indoor and outdoor scenes. Experimental results demonstrate a significant improvement in terms of 2D-2D and 2D-3D repeatability compared to existing multi-modal feature detectors.

Item Type: Article
Subjects : Electronic Engineering
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Vision Speech and Signal Processing
Authors :
Date : 14 September 2016
DOI : 10.1016/j.cviu.2016.09.008
Copyright Disclaimer : © 2016 The Authors. Published by Elsevier Inc. This is an open access article under the CC BY license. (
Uncontrolled Keywords : Point detection, Feature detection, Feature matching, 2D-3D registration, Saliency
Related URLs :
Depositing User : Symplectic Elements
Date Deposited : 21 Sep 2016 09:04
Last Modified : 16 Jan 2019 17:08

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