| 机器人单目导航系统中改进的灰度相关匹配法的研究 |
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| 引用本文： | 罗元,张百胜,李玲,张毅.机器人单目导航系统中改进的灰度相关匹配法的研究[J].重庆邮电大学学报(自然科学版),2008,20(5):606-609. |
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| 作者姓名： | 罗元 张百胜 李玲 张毅 |
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| 作者单位： | 重庆邮电大学,智能系统及机器人研究所,重庆,400065;重庆邮电大学,智能系统及机器人研究所,重庆,400065;重庆邮电大学,智能系统及机器人研究所,重庆,400065;重庆邮电大学,智能系统及机器人研究所,重庆,400065 |
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| 基金项目： | 教育部科学技术研究项目 |
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| 摘 要： | 给出了移动机器人单目导航系统的功能模块组成,介绍了匹配的基本概念及其在单目视觉导航系统地图创建中的应用.在讨论了几种典型的图像匹配技术的基础上,重点对基于像素灰度相关匹配进行了研究,提出了一种改进的灰度相关匹配法,经实验证明能有效解决原有归一化积相关灰度匹配速率低和序贯相似性检测法阈值难确定的不足.
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| 关 键 词： | 单目视觉 创建地图 图像匹配 灰度相关 |
| 收稿时间： | 2008/3/27 0:00:00 |
Research on improved gray correlation image matching used in monocular vision based mobile robot navigation |
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| LUO Yuan,ZHANG Bai-sheng,LI Ling,ZHANG Yi.Research on improved gray correlation image matching used in monocular vision based mobile robot navigation[J].Journal of Chongqing University of Posts and Telecommunications,2008,20(5):606-609. |
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| Authors: | LUO Yuan ZHANG Bai-sheng LI Ling ZHANG Yi |
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| Institution: | Research Center of Intelligent System and Robotics, Chongqing University of Posts and Telecommunications, Chongqing 400065, P.R.China |
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| Abstract: | The function models made up of monocular-vision navigation were given. The concept of image matching and its use in map building of monocular-vision navigation were described. Based on the analysis of some typical technologies of image matching, the matching based on correlated pixel grayscale was studied, and an advanced matching method based on correlated pixel grayscale was put forward. Experiment shows that this method is feasible to solve the problems of the low speed of normalized product correlation image matching algorithm and the difficulty of determining the threshold for sequential similarity detection algorithm. |
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| Keywords: | monocular vision map building image matching gray correlation |
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