Feature Based Vision Destination Recognition for Mobile Robot

被引：0

作者：

Cui, Xianguang ^{[1
]}

Zhang, Hai ^{[1
]}

Wang, Yue ^{[1
]}

机构：

[1] Beihang Univ, 37 Xueyuan Rd, Beijing, Peoples R China

来源：

PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON MECHATRONICS, CONTROL AND AUTOMATION ENGINEERING (MCAE) | 2016年 / 58卷

关键词：

camera calibration; destination matching; visual heading;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a feature based vision destination recognition approach. A simplified static calibration of camera is implemented and then based on the homography matrix calculated by coplanar matched Speeded-Up Robust Features (SURF) points the destination which is not even a direct feature point is tracked. By using the reference image and the invariance of area ratio of two triangles in affine transformation, the accumulated error is eliminated and the homography is corrected. The result of the laboratory dynamic experiment proves the stability and accuracy of the method.

引用

页码：58 / 62

页数：5

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