Fast scene matching navigation algorithm based on ORB

被引：0

作者：

Huang, Chao ^{[1
]}

Zhou, Weidong ^{[1
]}

机构：

[1] Automation College, Harbin Engineering University, Harbin

来源：

Journal of Information and Computational Science | 2014年 / 11卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Kalman; ORB; RANSAC; Scene matching;

D O I：

10.12733/jics20104098

中图分类号：

V355 [空中管制与飞行调度];

学科分类号：

摘要：

In this paper we introduced a scene matching navigation algorithm based on ORB which can meet the real-time requirement for high speed aircraft. We combined scene matching with INS to fix the accumulative error of INS and get high accuracy position data of the aircraft. In order to improve the accuracy and robust of system, we used SIFT feature as a supplement of ORB and introduced the Kalman filter to optimize the output of scene matching and INS. Based on maneuverability law, we did wrong point deleting with RANSAC. Finally, we designed a software system to simulate the scene matching/INS navigation system. From the result of experiments, we can draw a conclusion that the algorithm has good real-time performance, play a good matching effect and get high accuracy position value. ©2014 Binary Information Press

引用

页码：3857 / 3863

页数：6

共 10 条

[1]

Lowe D.G., Distinctive image features fromscale invariant keypoints, International Journal of Computer Vision, 60, 2, pp. 91-110, (2004)

[2]

Snavely N., Seitz S.M., Szeliski R., Skeletal sets for efficient structure from motion, (2008)

[3]

Se S., Lowe D., Little J., Mobile robot localization and mapping with uncertainty using scaleinvariant visual landmarks, International Journal of Robotic Research, 21, pp. 735-758, (2002)

[4]

Rosten E., Drummond T., Machine learning for highspeed corner detection, European Conference on Computer Vision, 1, (2006)

[5]

Calonder M., Lepetit V., Strecha C., Fua P., Brief: Binary robust independent elementary features, European Conference on Computer Vision, ECCV, (2010)

[6]

Harris C., Stephens M., A combined corner and edge detector, Alvey Vision Conference, 2, pp. 147-151, (1988)

[7]

Rosin P.L., Measuring corner properties, Computer Vision and Image Understanding, 73, 2, pp. 291-307, (1999)

[8]

Kalman R.E., A new approach to linear filtering and prediction problems, Journal of Basic Engineering (Series D), 82, pp. 35-45, (1960)

[9]

Fischler M.A., Bolles R.C., Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, 24, 6, pp. 381-395, (1981)

[10]

Hartley R., Zisserman A., Multiple View Geometry in Computer Vision, (2001)

← 1 →