基于Harris-Hist的特征匹配及目标定位算法

Feature Matching and Target LocationAlgorithm Based on Harris-Hist

针对目前机器人伺服定位抓取中定位精度和实时性较差的问题,提出一种基于Harris-Hist的快速特征匹配及目标定位算法.首先,采用Harris检测算法提取图像特征点;然后,提出一种新的特征点描述子定义方法,计算特征点圆形邻域内像素点灰度直方图刻画特征点,通过计算两幅图像中各特征点描述子间的距离实现特征匹配;最后,根据匹配结果,估计单应性矩阵,定位目标在场景图像中的位置.实验结果表明,该算法匹配速度快、定位精度高,能满足机器人伺服定位抓取中定位精度和实时性的要求.

Aiming at the problem of poor positioning accuracy and real-time in robot servo positioning and grasping,we proposed a feature matching and target location algorithm based on Harris-Hist.Firstly,Harris detection alg orithm was adopted to extract the image feature points.Secondly,we proposed a new method to define descriptor of feature points.The gray histogram of pixels in the circula r neighborhood of the feature points was calculated to describe the feature points.The feature matching was realized by calculating the distance between the descriptors of each feature point in two images.Finally,according to the matching results,the homography matrix was estimated to locate the target in the scene image.Experimental results show that the algorithm has fast matching speed and high positioning accuracy,which can meet the requirements of positioning accuracy and real-time in robot servo positioning and grasping.