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Zooming image based false matches elimination algorithms for robot navigation
Gao, Hongwei1,2; Jiang, Yueqiu1; Liu, Jinguo2; Yu, Yang1; Ju, Zhaojie3
Corresponding AuthorJu, Zhaojie(zhaojie.ju@port.ac.uk)
2017-12-16
Source PublicationADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
Volume9Issue:12Pages:15
AbstractFeature matching is one of the most important steps in the location technology of zooming images. According to the scale-invariant feature transform matching algorithm, several improved false matches elimination algorithms are proposed and compared in this article. First, features of zooming images and ranging models are introduced in detail in the theory framework of the scale-invariant feature transform feature detection and matching algorithm. The key role of the feature matching algorithm and false matches elimination in the ranging technology of zooming images is discussed and addressed. Second, false matches are eliminated by the proposed approach based on geometry constraint in zooming images with a higher accuracy. Third, false matches are removed by an elimination algorithm based on properties of the scale-invariant feature transform features. Finally, an iterative false matches elimination algorithm based on distance from epipole to epipolar line is proposed and this algorithm can also solve the real-time calibration of the shrink-amplify center for zooming images. Experiments results demonstrate that the three false matches elimination algorithms proposed are stable, and the false matches of feature points can be eliminated effectively with combination of these three methods, and the rest matching points can be applied into robot visual servoing.
KeywordZooming image scale-invariant feature transform geometry constraint false matches elimination robot visual servoing
Funding OrganizationNational Natural Science Foundation of China ; State Key Laboratory of Robotics Foundation ; Program for Liaoning Excellent Talents in University ; Natural Science Foundation of Liaoning Province ; Shenyang Ligong University Computer Application Key Discipline Foundation
DOI10.1177/1687814017738155
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[51175494] ; State Key Laboratory of Robotics Foundation[2016008] ; Program for Liaoning Excellent Talents in University[LJQ2014021] ; Natural Science Foundation of Liaoning Province[201602652] ; Shenyang Ligong University Computer Application Key Discipline Foundation[4771004kfx09]
WOS Research AreaThermodynamics ; Engineering
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS IDWOS:000418168200001
PublisherSAGE PUBLICATIONS LTD
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/127162
Collection中国科学院金属研究所
Corresponding AuthorJu, Zhaojie
Affiliation1.Shenyang Ligong Univ, Sch Automat & Elect Engn, Shenyang, Liaoning, Peoples R China
2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China
3.Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, Hants, England
Recommended Citation
GB/T 7714
Gao, Hongwei,Jiang, Yueqiu,Liu, Jinguo,et al. Zooming image based false matches elimination algorithms for robot navigation[J]. ADVANCES IN MECHANICAL ENGINEERING,2017,9(12):15.
APA Gao, Hongwei,Jiang, Yueqiu,Liu, Jinguo,Yu, Yang,&Ju, Zhaojie.(2017).Zooming image based false matches elimination algorithms for robot navigation.ADVANCES IN MECHANICAL ENGINEERING,9(12),15.
MLA Gao, Hongwei,et al."Zooming image based false matches elimination algorithms for robot navigation".ADVANCES IN MECHANICAL ENGINEERING 9.12(2017):15.
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