基于捕获位置分布的导航参考图适配性分析及快速计算

Suitability analysis of reference map and fast calculation algorithm based on capture position distribution

导航参考图适配性分析是景像匹配导航的关键问题之一。文中提出了一种基于捕获位置分布的估计导航参考图适配性方法。该方法首先在参考图每一点挖出实测图大小的子图，然后计算子图的特征参数并应用匹配准则估计子图的匹配概率，最后利用捕获位置分布函数对子图匹配概率加权求和以得到参考图的匹配概率。为了消除特征参数计算中存在的大量冗余计算，还研究了特征参数的快速计算方法。

Suitability analysis of reference map is one of the difficult problems in scene\|matching\|based navigation. In this paper, a capture\|position\|distribution\|based method is presented to solve it. Firstly, five parameters of every window image with size of sensed image in reference map are calculated, then a matching criteria is used to map these parameters to matching probability of window image. Finally, all matching probabilities of window image are summed up with weight of capture position distribution function, and the result is used as matching probability of reference map. And the fast algorithm is also studied to calculate the parameters. Experimental result shows our method is tenable and efficient. \;