计量学报2017，Vol.38Issue(5)：571-575,5.DOI:10.3969/j.issn.1000-1158.2017.05.11
基于图像匹配的移动机器人导航研究
A Research for Mobile Robot Navigation Based on Image Matching
摘要
Abstract
In the process of mobile robot navigation based on SIFT algorithm,the speed of image matching is slow,the improved SIFT algorithm based on subtractive clustering and the binarized feature descriptor are proposed.Firstly,subtractive clustering is used to reduce the redundant points of feature points,which effectively reduces the feature number without affecting the stability of the original SIFT algorithm.The generated feature descriptors are binarized,indexes are produced by the Hash function,and Hamming distance as the metric.Experimental results show that compared with the original SIFT algorithm,in the improved SIFT algorithm,the number of feature points is decreased by 30％ ～ 40％,the logarithm of the matched is basically unchanged,the matching rate increased by 6％ ～ 12％ and the matching time decreased 60％ ～ 70％.Compared with the improved SIFT algorithm which based on color moment and hierarchical image matching,in improved SIFT algorithm the number of feature points is decreased by 15％ ～ 25％,the logarithm of the matched is basically unchanged,the matching rate increased by 5％ ～ 10％ and the matching time decreased 45％ ～55％.关键词
计量学/移动机器人/图像匹配/减法聚类/二值化/改进SIFTKey words
metrologu/mobile robot/image matching/subtractive clustering/binarization/improved SIFT分类
通用工业技术引用本文复制引用
朱奇光,王梓巍,陈颖..基于图像匹配的移动机器人导航研究[J].计量学报,2017,38(5):571-575,5.基金项目
国家自然科学基金(61201112) （61201112）
河北省自然科学基金(F2012203169) （F2012203169）
燕山大学青年教师自主研究计划(14LGA013) （14LGA013）
