Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition |
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| Authors: | DU Ming-fang WANG Jun-zheng LI Jing LI Nan LI Duo-yang |
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| Affiliation: | 1. Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology,Beijing 100081, China;Automation School, Beijing Union University, Beijing 100101, China;2. Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology,Beijing 100081, China |
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| Abstract: | A new method based on adaptive Hessian matrix threshold of finding key SRUF (speeded up robust features) features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experiments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for unmanned vehicle systems. |
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| Keywords: | dynamic object recognition key SURF feature feature matching adaptive Hessian threshold unmanned vehicle |
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