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Zooming image based false matches elimination algorithms for robot navigation
Gao HW(高宏伟); Jiang YQ(姜月秋); Liu JG(刘金国); Yu Y(于洋); Ju ZJ(琚兆杰)
作者部门空间自动化技术研究室
关键词Zooming Image Scale-invariant Feature Transform Geometry Constraint False Matches Elimination Robot Visual Servoing
发表期刊ADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
2017
卷号9期号:12
收录类别SCI
WOS记录号WOS:000418168200001
产权排序1
资助机构National Natural Science Foundation of China ; State Key Laboratory of Robotics Foundation ; Program for Liaoning Excellent Talents in University ; Natural Science Foundation of Liaoning Province ; Shenyang Ligong University Computer Application Key Discipline Foundation
摘要

Feature matching is one of the most important steps in the location technology of zooming images. According to the scale-invariant feature transform matching algorithm, several improved false matches elimination algorithms are proposed and compared in this article. First, features of zooming images and ranging models are introduced in detail in the theory framework of the scale-invariant feature transform feature detection and matching algorithm. The key role of the feature matching algorithm and false matches elimination in the ranging technology of zooming images is discussed and addressed. Second, false matches are eliminated by the proposed approach based on geometry constraint in zooming images with a higher accuracy. Third, false matches are removed by an elimination algorithm based on properties of the scale-invariant feature transform features. Finally, an iterative false matches elimination algorithm based on distance from epipole to epipolar line is proposed and this algorithm can also solve the real-time calibration of the shrink-amplify center for zooming images. Experiments results demonstrate that the three false matches elimination algorithms proposed are stable, and the false matches of feature points can be eliminated effectively with combination of these three methods, and the rest matching points can be applied into robot visual servoing.

语种英语
WOS类目Thermodynamics ; Engineering, Mechanical
关键词[WOS]RECONSTRUCTION ; DESCRIPTORS
WOS研究方向Thermodynamics ; Engineering
资助项目National Natural Science Foundation of China[51175494] ; State Key Laboratory of Robotics Foundation[2016008] ; Program for Liaoning Excellent Talents in University[LJQ2014021] ; Natural Science Foundation of Liaoning Province[201602652] ; Shenyang Ligong University Computer Application Key Discipline Foundation[4771004kfx09]
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21469
专题空间自动化技术研究室
通讯作者Ju ZJ(琚兆杰)
作者单位1.School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.School of Computing, University of Portsmouth, Portsmouth, UK
推荐引用方式
GB/T 7714
Gao HW,Jiang YQ,Liu JG,et al. Zooming image based false matches elimination algorithms for robot navigation[J]. ADVANCES IN MECHANICAL ENGINEERING,2017,9(12).
APA Gao HW,Jiang YQ,Liu JG,Yu Y,&Ju ZJ.(2017).Zooming image based false matches elimination algorithms for robot navigation.ADVANCES IN MECHANICAL ENGINEERING,9(12).
MLA Gao HW,et al."Zooming image based false matches elimination algorithms for robot navigation".ADVANCES IN MECHANICAL ENGINEERING 9.12(2017).
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