A Research for Mobile Robot Navigation Based on Image Matching
ZHU Qi-guang1,3,WANG Zi-wei1,CHEN Ying2
1. Institute of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
3. Key Lab for Special Fiber & Fiber Sensor of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, China
Abstract：In the process of mobile robot navigation based on SIFT algorithm, the speed of image matching is slow, the improved SIFT algorithm based on subtractive clustering and the binarized feature descriptor are proposed. Firstly, subtractive clustering is used to reduce the redundant points of feature points, which effectively reduces the feature number without affecting the stability of the original SIFT algorithm. The generated feature descriptors are binarized, indexes are produced by the Hash function, and Hamming distance as the metric. Experimental results show that compared with the original SIFT algorithm, in the improved SIFT algorithm ,the number of feature points is decreased by 30%~40%, the logarithm of the matched is basically unchanged, the matching rate increased by 6%~12% and the matching time decreased 60%~70%. Compared with the improved SIFT algorithm which based on color moment and hierarchical image matching, in improved SIFT algorithm the number of feature points is decreased by 15%~25%, the logarithm of the matched is basically unchanged, the matching rate increased by 5%~10% and the matching time decreased 45%~55%.
朱奇光,王梓巍,陈颖. 基于图像匹配的移动机器人导航研究[J]. 计量学报, 2017, 38(5): 571-575.
ZHU Qi-guang,WANG Zi-wei,CHEN Ying. A Research for Mobile Robot Navigation Based on Image Matching. Acta Metrologica Sinica, 2017, 38(5): 571-575.
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2017, Vol. 38 
