1Moravec H. Towards automatic visual obstacle avoidance [C]. Proceedings of international joint of conference on artificial intelligence,Cambridge, 1977:584.
2Harris C,Stephens M. A combined corner and edge detector [C]. Proceedings of the 4th Alvey Vision Conference1988,(15): 147-151.
3LOWED. Distinctive image keypoints [J]. International 2004, 60(2): 91-100 feature Journa s from scale-invariant I of Computer Vision,.
4Bay H,Tuytelaars T, Van Gool L. SURF:speeded up robust features [C]. Proceeding of European Conference on Computer Vision, 2006:404-417.
5Canny J. A computational approach to edge Detection [J]. Pattern Analysis and Machine Intelligence, 1986,(8):679- 714.
4Lowe D.Distinctive image features from scale-invariant keypoints[J].International Journal on Computer Vision,2004,60(2):91-110.
5Ke Y,Sukthankar R.PCA-SIFT:a more distinctive representation for local image descriptors[C]//Proceedings of the Conference on Computer Vision and Pattern Recognition,Washington,USA,2004:511-517.
6Brown M,Lowe D G.Recognising panoramas[C]//Proceedings of the 9th International Conference on Computer Vision(ICCV03),Nice,October 2003.
7Mikolajczyk K,Schmid C.A performance evaluation of local descriptors[C]//Proceedings of the Conference on Computer Vision and Pattern Recognition,Madison,Wisconsin,USA,2005:257-264.
8Lindeberg T.Scale-space theory in computer vision[M]//The Kluwer International Series in Engineering and Computer Science.Dordrecht,Netherlands:Kluwer Acaddemy Publishers,1994.
9Brown M.Multi image matching using multi -scale oriented patches,MSR-TR-2004-113[R],2004.
10Moravec H P. Towards automatic visual obstacle avoidance[ C ]//Proceedings of International Joint Conference on Artificial Intelligence , Cambridge, MA, USA, 1977:5842.
