基于纯几何学线特征匹配的点线结合匹配算法

为了解决传统匹配算法在强光照变化或者高动态范围(HDR)环境下的匹配不准确,在欠点环境下提取特征过少的问题,引入基于纯几何学的线特征匹配算法并融合性能优越的点特征匹配算法。在保证算法实时性与拥有足够数量匹配对的前提下,使得算法对于光照变化有较好的鲁棒性,同时提高匹配的准确率,满足诸如视觉里程计(VO)之类的实时应用。实验表明,该算法在满足实时应用要求的前提下,匹配精度以及对于光照变换的鲁棒性都有了明显的提升。

POINT-LINE MATCHING ALGORITHM BASED ON PURE GEOMETRIC LINE FEATURE

In order to solve the problem that the traditional matching algorithm is not accurate in the case of strong illumination change or high dynamic range(HDR)environment,and too few features are extracted in deficient point environment,we introduce the line feature matching algorithm based on pure geometry to fuse the point feature matching algorithm with superior performance.On the premise of ensuring the real-time performance of the algorithm and having enough matching pairs,the algorithm has good robustness for illumination changes.And the accuracy of matching is improved to meet real-time applications such as visual odometer(VO).The experimental results show that the matching accuracy and the robustness to illumination transformation of our algorithm have been improved obviously under the condition of meeting the real-time application requirements.