关键词:比例尺度不变; 特征提取; 特征匹配; K维树
Robust image feature extracting and matching algorithm for mobile robots vision
YANG Jing-dong1,2, YANG Jing-hui3, HONG Bing-rong2
(1. School of Optical-Electrical & Computer Engineering, University of Shanghai for Science & Technology, Shanghai 200093, China; 2. College of Computer Science & Technology, Harbin Institute of Technology, Harbin 150001, China; 3. School of Business Management, Shanghai Second Polytechnic University, Shanghai 201209, China)
Abstract:According to the real-time and accuracy requirement to process image during navigation for mobile robots, this paper proposed a new feature extracting algorithm, SIFT algorithm, which combined the searching and matching algorithm, KD tree. Firstly, fuzzed the feature images many times, so that distributed those extracted features around gray outline of Gaussian difference image. Then the global best points, which satisfied extreme constraints, were obtained based on SIFT algorithm. Finally, the exact matching features could be found by using matching algorithm based on KD tree quickly. It is validated that the algorithm is strongly robust to the environment change from the experiments, such as illumination and angle of view, and is able to meet the requirements of real-time and veracity in the process of navigation for mobile robots.......