ORB feature extraction and matching method and device

A feature extraction and feature matching technology, applied in image data processing, instruments, character and pattern recognition, etc., can solve the problems of consuming large memory and CPU resources, reduce development difficulty, improve implementation performance, and ensure real-time effects

Active Publication Date: 2018-06-15
西安因诺航空科技有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to provide a method and device for ORB feature extraction and matching, which so

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  • ORB feature extraction and matching method and device
  • ORB feature extraction and matching method and device
  • ORB feature extraction and matching method and device

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Embodiment Construction

[0052] The present invention is described in further detail below in conjunction with accompanying drawing:

[0053] The present invention provides a method for ORB feature extraction and matching, which can be applied to the SLAM front end. The present invention includes the following steps:

[0054] Step 1: Collect multiple frames of images of the same scene at different times and store them.

[0055] Step 2: Convert multiple frames of original images of the same scene at different times into images containing only grayscale information, perform FAST corner point and HARRIS corner point extraction on each frame of grayscale image after conversion, and extract each frame of grayscale image Calculate the centroid of each pixel in the image, and perform Gaussian blurring on each frame of grayscale image, and then output the key information of feature points of each frame of image and the image after Gaussian blurring. The key information of feature points includes the extracted F...

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Abstract

The invention discloses an ORB feature extraction and matching method and device. The method comprises the following steps: firstly, converting an original image into a gray level image, performing FAST angular point and HARRIS corner point extraction, centroid calculation and Gaussian blur, and outputting the feature point key information and Gaussian blur images; performing down-sampling on theimage to obtain a plurality of sets of feature point key information and Gaussian blur images; calculating the descriptor information corresponding to the feature point, performing feature matching onthe descriptor information of the two frames of images to obtain the ORB feature matching result; and finally outputting the original image and the ORB feature matching result synchronized with the original image. The problem that a large amount of memory and CPU resources are consumed for identifying the same target image in the prior art is solved. According to the method and the device, the speed for identifying the same target image can be increased, and meanwhile, the real-time performance is guaranteed while the feature extraction and matching accuracy is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of image registration, in particular to an ORB feature extraction and matching method and device. Background technique [0002] Image registration is the process of matching and superimposing two or more images acquired by imaging devices at different times, angles or environments. In the fields of target detection, map reconstruction, etc., in order to obtain the matching relationship between different images, a large number of real-time calculations need to be performed on the images captured by the camera, and the feature points with high recognition are smaller than the number of pixels. The order of magnitude, the calculation speed is faster, and a more accurate matching relationship between different images can be obtained. [0003] At different times, angles and environments, the same target image has a certain correlation, but because of the shooting angle, scale, brightness and other issues, it is ...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06K9/46
CPCG06T7/33G06T2207/20016G06V10/44
Inventor 王黎
Owner 西安因诺航空科技有限公司
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