Feature Matching and Tracking for Visual Odometry of Mobile Robot
A stereovision algorithm is proposed for visual odometty to estimate motion of mobile robot by providing feature pair sequence.It is composed of feature extracting,matching and tracking.Firstly,corners are extracted as features bv Harris operator and grid-based optimizing.In feature matching and tracking,serioils problems are caused by variable illumination between stereo images.An improved Moravec’s Normalized Cross Correlation (MNCC) algorithm is presented to reduce illumination affect in computing correspondence of corners.on current stereo image pair,extracted corners are matched by correlation-based bidirectionaJ algorithm and outliers are rejected by epipolar constraint.Matched corners are tracked in pre-estimated search windows.The computational cost is greatly reduced by limiting number of corners,pre.estimating search window and feature local-updating.Simulation results validate that our algorithm is efficient and reliable.
Feature Matching Robot Stereovision Tracking
Yingkui Du Janda Han Yandong Tang
国际会议
The International Conference Information Computing and Automation(2007国际信息计算与自动化会议)
成都
英文
927-930
2007-12-19（万方平台首次上网日期，不代表论文的发表时间）