基于拐角流量检测的视觉特征提取与跟踪方法
DOI:
https://doi.org/10.52810/JIR.2024.001关键词:
计算机视觉, 特征跟踪, 光流法, 视觉特征, 视觉跟踪摘要
基于视觉的前端特征跟踪是机器人在运动过程中通过相机拍摄周围环境获取图像，然后对每一帧图像提取特征点，并对两两图像帧上的特征点进行匹配，通过解算特征点的变化情况来估计机器人的位姿变化。基于特征点匹配的方法，需要提取特征点再加入描述子，利用描述子进行特征匹配，由于描述子的加入，基于特征匹配的方法在光照变化、纹理变化大的情况下表现不错，但也增加计算量，增加了计算成本，并且特征匹配的方法不稳定。因此，本文提出了一种角点流检测方法，将稀疏光流跟踪与 Shi-Tomasi 角点检测将结合，代替描述子，即得到了在光照变化和纹理变化大的情况下，更好的稳定性，又保证了较小的计算成本。实验结果在Ubuntu操作系统下利用 OpenCV 进行验证，验证了该算法的高效性与性能的有效性。
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