Gradient-based local affine invariant feature extraction for mobile robot localization in indoor environments

Jihyo Lee, Hanseok Ko

Research output: Contribution to journalArticle

16 Citations (Scopus)


In this paper, we propose a gradient-based local affine invariant feature extraction algorithm (G-LAIFE), using affine moment invariants for robot localization in real indoor environments. The proposed algorithm is an effective feature extraction algorithm that is invariant to image translation and to 3D rotation, and it is within a partial range of the image scale. Representative performance analysis confirms that the proposed G-LAIFE algorithm significantly enhances the recognition rate and is more efficient than the scale invariant feature transform (SIFT), especially in terms of 3D rotation change and computational time.

Original languageEnglish
Pages (from-to)1934-1940
Number of pages7
JournalPattern Recognition Letters
Issue number14
Publication statusPublished - 2008 Oct 15



  • 3D rotation
  • Affine invariant
  • Local feature extraction
  • Translation

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Electrical and Electronic Engineering

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