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题名: Feature matching and tracking for visual odometry of mobile robot
作者: Du YK(杜英魁) ; Han JD(韩建达) ; Tang YD(唐延东)
作者部门: 机器人学研究室
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
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
出版日期: 2007
页码: 927-930
收录类别: CPCI(ISTP)
ISBN号: 978-981-279-948-7
关键词: feature ; matching ; robot ; stereovision ; tracking
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8451
Appears in Collections:机器人学研究室_会议论文

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