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| An Algorithm Research for Mobile Robot Localization Based on the Improved Scale Invariant Feature Transform of Color Moment |
| ZHU Qi-guang1,3,ZHANG Xing-jia1,CHEN Wei-dong1,3,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 Laboratory for Special Fiber and Fiber Sensor of Hebei Province, Qinhuangdao, Hebei 066004, China |
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Abstract The hierarchical image matching algorithm for the real-time and accuracy requirement to process image is proposed in the field of image appearance-based mobile robot localization. The improved scale invariant feature transform, based on color moment, is used for the algorithm. The algorithm is firstly performed by color moment to sort the image sequences. Following, improved scale invariant feature transform is used to match with the sorted image sequences. To improve scale invariant feature transform, the sampling-based iterative search approach is used to detect extremums, as well as the magnitude and orientation of the keypoints gradient is calculated by Sobel operator. Experimental results show that the improved scale invariant feature transform reduces the false matching rate by 9.2%, as well the time of features extraction and matching is reduced by 25.8%. The hierarchical image matching algorithm reduces the calculation cost of scale invariant feature transform by 70% and the run time by 43.3%.
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Received: 28 March 2014
Published: 27 January 2016
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Corresponding Authors:
Qi-guang ZHU
E-mail: zhu7880@ysu.edu.cn
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2016, Vol. 37 
