A real-time localization algorithm based on feature point matching

Shuo Lei, Siyi Tian, Qiming Huang, Anyi Huang
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引用次数: 0

Abstract

When watching video, people can roughly estimate the direction and displacement of the camera movement by the change of the two frames before and after the video. We have studied this phenomenon and quantified it using computer. In this paper, we compare the current main image feature point extraction techniques with search matching techniques and propose an algorithm that relies on camera images to calculate instantaneous displacement. The algorithm is well suited to guided robots that are generally equipped with cameras. Based on the feature point extraction and matching technology, the algorithm realizes the function of calculating the camera displacement between two samples through the homography matrix transformation and camera calibration. We have conducted several comprehensive experiments on the algorithm in multiple environments and analyzed the proposed algorithm in this paper based on the experimental results.
基于特征点匹配的实时定位算法
人们在观看视频时,可以通过视频前后两帧的变化大致估计出摄像机运动的方向和位移。我们对这一现象进行了研究,并用计算机对其进行了量化。在本文中,我们比较了当前主要图像特征点提取技术和搜索匹配技术,并提出了一种基于相机图像计算瞬时位移的算法。该算法非常适合通常配备摄像头的引导机器人。该算法基于特征点提取与匹配技术,通过单应性矩阵变换和摄像机标定,实现了计算两个样本间摄像机位移的功能。我们对该算法在多种环境下进行了多次综合实验,并根据实验结果对本文提出的算法进行了分析。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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