机器人视觉设备计算机图像特征提取算法

Wang Li
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引用次数: 0

摘要

针对机器人图像特征提取随环境变化而较差的情况,本文对局部二值模式(Local Binary Patterns, LBP)进行了改进,提出了SIFT-MLBP图像特征提取方法,基于相邻图像中心像素点之间的相关性进行分区网格编码。利用SIFT算法获取图像的关键特征后,以每个区域的像素点为中心构建网格结构,计算像素点之间的偏差,并对每个具有不同对比度编码的像素分配权重。本研究结合Gabor算法提取基于模型的特征向量,构建SIFT-GMLBP特征向量,通过原始补体的相互映射降维。实验表明,SIFT-GMLBP算法具有较好的特征匹配效果,匹配正确率在95%以上,运行时间缩短了0.05S。该方法在处理外部环境方面的鲁棒性非常显著,能够提高移动机器人在复杂环境下的图像识别速度和精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Computer Image Feature Extraction Algorithm for Robot Visual Equipment
To improve the poor condition of the robot image feature extraction with change in the environment, this thesis made improvement in the Local Binary Patterns (LBP), and proposed the SIFT-MLBP image feature extraction, coding by partition grid based on the correlation between the neighboring image center pixel points. After obtaining the key image characteristics by using the SIFT algorithm, a gridding structure was built centered on the pixel point in each region, calculating the partial difference between the pixel points, and assigning weight to each pixel encoding with different contrasts. In this study, the model-based feature vector combining the Gabor algorithm was extracted to build the SIFT-GMLBP feature vector, which reduced feature dimensions by mapping of the original complement with each other. The test showed that the SIFT-GMLBP algorithm possesses a fairly good feature matching effect, with the correct matching rate over 95%, and reduced running time of 0.05S. The robustness of this method in dealing with the external environment is quite remarkable, as it is able to improve the speed and precision of the mobile robots’ image identification in the complex environment.
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