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Improved SURF mobile robot image matching method

A technology of mobile robot and matching method, which is applied in the field of image matching of improved SURF mobile robot, can solve problems such as redundant and useless calculations, matching errors, etc., and achieve the effects of reducing computational complexity, high matching accuracy rate, and excellence

Active Publication Date: 2020-05-29
HEFEI SIWILL INTELLIGENT +1
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Problems solved by technology

The SURF (Speeded UpRobust Features, fast matching) algorithm is a commonly used robot image matching algorithm, but there are many unstable feature points detected, resulting in redundant and useless calculations; only a single Euclidean distance is used as the criterion in the matching process , causing problems such as large matching errors

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  • Improved SURF mobile robot image matching method
  • Improved SURF mobile robot image matching method
  • Improved SURF mobile robot image matching method

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Embodiment Construction

[0029] refer to figure 1 , a kind of improved SURF mobile robot image matching method that the present invention proposes, comprises the following steps.

[0030] H1. Perform edge detection on the first image to be matched and the second image respectively, and obtain the corresponding first contour image and the second contour image.

[0031] Specifically, in this embodiment, the first contour image and the second contour image are respectively extracted from the first image and the second image through Canny edge detection and edge detection. During specific implementation, first obtain the first image and the second image after Gaussian filtering, and then the specific method of obtaining the first contour image from the first image and the second contour image from the second image is: first, through the finite difference of the first-order partial derivative Calculate and find the intensity gradient of the image; then apply the non-maximum suppression technique to elimin...

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Abstract

The invention provides an improved SURF mobile robot image matching method, which comprises the following steps: respectively carrying out edge detection on a first image and a second image to be matched to obtain a corresponding first contour image and a corresponding second contour image; detecting feature points on the first contour image and the second contour image respectively, and generating a feature description vector corresponding to each feature point; obtaining to-be-selected feature points in the nearest neighborhood corresponding to each original feature point as matching pointsof the original feature points, and recording the matching points into a matching point set corresponding to the original feature points; and screening effective matching points of the original feature points from the corresponding matching point set according to the cosine similarity. Compared with an existing image matching method, the improved SURF mobile robot image matching method provided bythe invention has the advantages that the matching accuracy is higher, the matching time is shorter, and excellent superiority is embodied.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to an improved SURF mobile robot image matching method. Background technique [0002] Image matching based on machine vision is an important part of the robot system. The mobile robot needs to locate and create a map at the same time when it moves, collect images of the surrounding environment while walking, and compare it with the system image library to complete tasks such as positioning and creating maps. Therefore, the image processing requirements are higher. SURF (Speeded UpRobust Features, fast matching) algorithm is a commonly used robot image matching algorithm, but there are many unstable feature points detected, resulting in redundant and useless calculations; only a single Euclidean distance is used as a criterion in the matching process , causing problems such as large matching errors. Contents of the invention [0003] Based on the technical problems exis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62G06T7/13
CPCG06T7/13G06V20/10G06V10/757G06V10/462G06F18/22Y02T10/40
Inventor 盛娜赵瑜郑博超朱玉许青赵佳佳
Owner HEFEI SIWILL INTELLIGENT
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