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Feature Tracking and testing of various keypoint detector/descriptor combinations, keypoint matching using Brute Force and FLANN approach.

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2D Feature Tracking

This project focusses on building the feature tracking part and test various detector/descriptor combinations to see which ones perform best. It consists of four parts:

  • First, we will focus on loading images, setting up data structures, and putting everything into a ring buffer to optimize memory load.
  • Then, we will integrate several keypoint detectors - SHI-TOMASI, HARRIS, FAST, BRISK, ORB, AKAZE, and SIFT and compare them concerning the number of keypoints and speed.
  • In the next part, we will then focus on descriptor extraction and matching using brute force and also the FLANN approach.
  • In the last part, once the code framework is complete, we will test the various algorithms in different combinations and compare them about some performance measures.

Dependencies for Running Locally

Basic Build Instructions

  1. Clone this repo.
  2. Make a build directory in the top level directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./2D_feature_tracking.

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Feature Tracking and testing of various keypoint detector/descriptor combinations, keypoint matching using Brute Force and FLANN approach.

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