一种基于SIFT算法的单目视觉里程计设计
摘要
很多先进的机器视觉和图像处理技术应用于单目视觉里程计设计中,其中包括特征点提取技术、特征点匹配技术、运动参数估计等。影响里程计精确定位的关键因素之一为图像特征点提取与匹配。介绍了一种可行的单目视觉里程计设计方法,通过特征提取、特征匹配以及运动估计得出运动方向和距离等信息。
引文
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[2]KELLY J,SARIPALLI S,SUKHATME G.Combined visualand inertial navigation for an unmanned aerial vehiclefield and service robotics[M].LAUGIER C,SIEGWARTR.Heidelberg,Berlin,Springer,2008:255-264.
[3]LUKASHEVICH P,ZALESKY B,ABLAMEYKO S.Medicalimage registration based on SURF detector[J].PatternRecognition and Image Analysis,2011,21(3):519-521.
[4]SHINJI UMEYAMA.Least-squares estimation of t ransf ormation parameters between two point patterns[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1991(13):376-380.
[5]CHENG Y,MAIMONE M,MAT THIES L.Visual odometry on the mars exploration rovers[C].Proc of 2005IEEE Int ernat ional Conf erence on S ystems,Man and Cybernetics,the Big Island,Haw aii,US,2005:903-910.