A real-time localization algorithm based on feature point matching

摘要

When watching video, people can roughly estimate the direction and displacement of the camera movement by the change of the two frames before and after the video. We have studied this phenomenon and quantified it using computer. In this paper, we compare the current main image feature point extraction techniques with search matching techniques and propose an algorithm that relies on camera images to calculate instantaneous displacement. The algorithm is well suited to guided robots that are generally equipped with cameras. Based on the feature point extraction and matching technology, the algorithm realizes the function of calculating the camera displacement between two samples through the homography matrix transformation and camera calibration. We have conducted several comprehensive experiments on the algorithm in multiple environments and analyzed the proposed algorithm in this paper based on the experimental results.