月面模拟环境的SIFT 特征提取与匹配方法

空间控制技术与应用

月面模拟环境的SIFT 特征提取与匹配方法

刘佳璐1，2

1.北京控制工程研究所，北京100190；2.空间智能控制技术国家重点实验室，北京100190）

收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2009-10-25 发布日期:2009-10-25

Extraction and Matching of SIFT Feature for Simulated Lunar Environment

LIU Jialu

1. Beijing Institute of Control Engineering, Beijing 100190，China; 2. National Laboratory of Space Intelligent Control, Beijing 100190，China

Received:1900-01-01 Revised:1900-01-01 Online:2009-10-25 Published:2009-10-25

摘要/Abstract

摘要： 为了满足月面巡视探测器的自主导航要求。使用一种新的基于尺度不变的特征点提取和匹配算法。首先根据尺度不变特征变换方法从图像中提取关键点作为特征点，然后进行左右双目图像的特征点匹配和视差的恢复。与传统特征算法相比，可以提高对不同光照环境图像匹配的鲁棒性和匹配精度。在模拟试验场的双目视觉图像匹配中，仿真实验取得较好的效果。

关键词: 月面巡视探测器, SITF特征, 视觉导航, 特征提取, 特征匹配

Abstract: A new feature point extraction algorithm based on prior knowledge of navigation systems for lunar rover is presented in this paper .The key-points was extracted by SIFT(Scale Invariant Feature Transform) from image as feature points at first. Then use these feature points for binocular matching thus getting distance information of the scene by the calculation of differences between match points in two images. This algorithm could improve the robust to lightness change for images of lunar region and accuracy in the later matching phase. This algorithm make good results in simulative environment experiments.

Key words: lunar rover, SIFT feature, vision navigation, feature extraction, feature matching

中图分类号:

TP391

刘佳璐1，2 . 月面模拟环境的SIFT 特征提取与匹配方法[J]. 空间控制技术与应用, 2009, 35(5): 48-51.

LIU Jialu . Extraction and Matching of SIFT Feature for Simulated Lunar Environment [J]. , 2009, 35(5): 48-51.

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