Visual navigation method based on fast feature point extraction and mesh triangle constraint
The invention discloses a visual navigation method based on fast feature point extraction and mesh triangle constraint, which comprises the following steps: acquiring continuous video frame sequence images, extracting feature points in adjacent two frame images; meshing the extracted two adjacent fr...
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| creator | HUO LIYING ZHANG LIANG SHEN SHIBIN LIU YIJIAN XIA SHAOJUN ZHANG LEI QIAN WEIXING XIE FEI LIU WENHUI HUANG TIANYIN |
| description | The invention discloses a visual navigation method based on fast feature point extraction and mesh triangle constraint, which comprises the following steps: acquiring continuous video frame sequence images, extracting feature points in adjacent two frame images; meshing the extracted two adjacent frames of images; a 6-dimensional shape descriptor and a 32-dimensional region descriptor being constructed for each triangle, and a feature vector composed of 38-dimensional mixed descriptors of each triangle being obtained; matching the eigenvectors of the triangles corresponding to the mesh division, selecting the feature points with remarkable characteristics by the center point clustering method, eliminating the mismatched feature points, and eliminating the motion feature points by the polargeometry constraint, so as to obtain the effective and usable feature point pairs; completing the final solution of the motion model, and obtaining the position results of visual navigation solution.The invention provides a |
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| language | chi ; eng |
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| subjects | CALCULATING COMPUTING COUNTING HANDLING RECORD CARRIERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PHYSICS PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS |
| title | Visual navigation method based on fast feature point extraction and mesh triangle constraint |
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