Gaojie Wang, Xiangyang Hao, Shufeng Miao. An Overall Matching Algorithm for Image Feature Points in Visual Navigation[J]. Laser & Optoelectronics Progress, 2022, 59(22): 2215006
- Laser & Optoelectronics Progress
- Vol. 59, Issue 22, 2215006 (2022)
Fig. 1. Image sampling diagram
Fig. 2. Fitting results of detection threshold and feature coefficient
Fig. 3. Method of image area segmentation. (a) Target image;(b) image to be matched
Fig. 4. Diagram of point selection. (a) Target image; (b) image to be matched
Fig. 5. Epipolar constraint and position constraint
Fig. 6. Effect of parameter values on matching results
Fig. 7. Results of feature point extraction by proposed method
Fig. 8. Results of feature point matching by proposed method
Fig. 9. Comparison of average running time for image feature point matching in different data sets. (a) TUM data set; (b) UAV data set;(c) images captured by mobile robots
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Table 1. Results of different methods for feature point extraction
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Table 2. Results of different methods for image feature point matching
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