The invention belongs to the filed of
image matching of coding
structured light active visual sense in
machine visual sense, in particular to a
feather point matching method based on the
colored false
random coding projection. The invention is based on a false
random coding principle, and designs a novel
colored coding projection template by using a point and line
combined method. The method comprises the following concrete steps: 1. generating a false
random sequence from a0, a1 to an by a feedback network n-displacement bit register specified by a primitive polynomial h(x)=xm+hm-1xm-1+...+h1x+h0; 2. filling the false
random sequence from a0, a1 to an into a matrix with the size of n=n1*n2 for generating a false
random array b; and 3. using the generated array values as the discrete
feather points, connecting the
feather points by a feather line, and establishing a coding template. The invention introduces a morphological
algorithm, and provides the
extraction algorithm of the relevant feather points. In the decoding process, the invention provides the thought of mutual
verification of adjacent windows, can realize the automatic extraction and matching of the feature points, and can perfectly solve the problem of shadow generation during the projection of the structural light on the surface of the complicated three-dimensional scenes and the problem of mistake feather point matching caused by that parts of coding patterns are covered because the shooting angles of a
video camera are different.