智能系统学报Issue(4)：419-424,6.DOI:10.3969/j.issn.1673-4785.201305076
基于改进 FAST 算法的移动机器人导航
Research on the navigation of mobile robots based on the improved FAST algorithm
摘要
Abstract
In order to solve the problem of poor real-time performance and weak robustness of mobile robots during monocular vision navigation , a new improved navigational algorithm is put forward on the basis of the FAST algo-rithm and the one point RANSAC algorithm for mobile robots .This improved new algorithm is made up of three main steps.Firstly, the mobile robots use the FAST algorithm to collect the information by camera .Secondly,in the process of matching , we use the improved RANSAC algorithm to reject the mismatching .Finally, a 3-D map of the environment is built .Experiments show that this method can improve the real-time performance and robustness ef-fectively regarding the aspects of positioning and navigation of the mobile robots .关键词
移动机器人/单目视觉/FAST算法/扩展卡尔曼滤波/RANSAC算法/机器人导航/鲁棒性Key words
mobile robot/monocular vision/FAST algorithm/extended Kalman filter/RANSAC algorithm/robot navigation/robustness分类
信息技术与安全科学引用本文复制引用
蒲兴成,谭少峰,张毅..基于改进 FAST 算法的移动机器人导航[J].智能系统学报,2014,(4):419-424,6.基金项目
国家自然科学基金资助项目（51075420）；重庆市教委科学技术研究资助项目（ KJ100516；KJ1400432）． （）
