Feature matching and tracking for visual odometry of mobile robot
文献类型：会议论文
| 作者 | Du YK(杜英魁); Han JD(韩建达) ; Tang YD(唐延东)
|
| 出版日期 | 2007 |
| 会议名称 | International Conference on Information Computing and Automation |
| 会议日期 | December 20-22, 2007 |
| 会议地点 | Hefei, China |
| 关键词 | feature matching robot stereovision tracking |
| 页码 | 927-930 |
| 中文摘要 | A stereovision algorithm is proposed for visual odometry to estimate motion of mobile robot by providing feature pair sequence. It is composed of feature extracting, matching and tracking. Firstly, corners are extracted as features by Harris operator and grid-based optimizing. In feature matching and tracking, serious problems are caused by variable illumination between stereo images. An improved Moravec's Normalized Cross Correlation (MNCC) algorithm is presented to reduce illumination affect in computing correspondence of corners. On current stereo image pair, extracted corners are matched by correlation-based bidirectional algorithm and outliers are rejected by epipolar constraint. Matched corners are tracked in pre-estimated search windows. The computational cost is greatly reduced by limiting number of corners, pre-estimating search window and feature local-updating. Simulation results validate that our algorithm is efficient and reliable. |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | PROCEEDINGS OF THE INTERNATIONAL CONFERENCE INFORMATION COMPUTING AND AUTOMATION, VOLS 1-3
 |
| 会议录出版者 | WORLD SCIENTIFIC PUBL CO PTE LTD |
| 会议录出版地 | SINGAPORE |
| 语种 | 英语 |
| ISBN号 | 978-981-279-948-7 |
| WOS记录号 | WOS:000258893000230 |
| 源URL | [http://ir.sia.cn/handle/173321/8451]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Du YK,Han JD,Tang YD. Feature matching and tracking for visual odometry of mobile robot[C]. 见:International Conference on Information Computing and Automation. Hefei, China. December 20-22, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。