A FAST-BRISK feature detector with depth information

Abstract

RGB-D cameras offer both color and depth images of the surrounding environment, making them an attractive option for robotic and vision applications. This work introduces the BRISK_D algorithm, which efficiently combines Features from Accelerated Segment Test (FAST) and Binary Robust Invariant Scalable Keypoints (BRISK) methods. In the BRISK_D algorithm, the keypoints are detected by the FAST algorithm and the location of the keypoint is refined in the scale and the space. The scale factor of the keypoint is directly computed with the depth information of the image. In the experiment, we have made a detailed comparative analysis of the three algorithms SURF, BRISK and BRISK_D from the aspects of scaling, rotation, perspective and blur. The BRISK_D algorithm combines depth information and has good algorithm performance.