Research on Service Robot Vision Alignment Algorithm Based on the SIFT Characteristic
For service robot vision localization requirements,the localization technology research based on the image SIFT characteristic was introduced. The space examination,the precise positions of characteristic points,the direction parameters of the assigned operator and the description of the characteristic point were analyzed. At the same time,the stability under the condition of image zoom,rotation and affine transformation was analyzed according to experiments. Experiments result shows that the SIFT characteristic has the proportion zoom invariability,the revolving invariability,the part affine invariability and a high recognition rate at complex environments.On the basis of above work,the vision localization method based on SIFT characteristic turns out to be an applicable technology in in-building complex environment.
SIFT characteristic service robot visual localization
Wang Dianjun Wei Hongxing Wang Xiaohui Shen Aiming Ren Fujun
Mechanical Engineering Academy,Beijing Institute of Petro-Chemical Technology,Beijing 102617,China Robotics Institute,Beijing University of Aeronautics and Astronautics,Beijing 100083,China Mechanical & Power Engineering College,Harbin University of Science and Technolgy,Harbin 150080,Chin
国际会议
The Fifth IEEE International Symposium on Embedded Computing(SEC 2008)(第五届IEEE国际嵌入式系统计算会议)
北京
英文
135-140
2008-10-06（万方平台首次上网日期，不代表论文的发表时间）