CAJ | 학술논문

尺度不变特征变换(Scale Invariant Feature Transform,SIFT)算法由于具有尺度、旋转和光照不变等特性,被广泛应用到移动机器人视觉定位领域.由于定位计算中使用的特定标示物图像及背景图像的尺寸对定位计算时间影响较大,为提高移动机器人视觉定位的实时性能,分别改变待识别图像以及背景图像的尺寸,进行了图像匹配实时性测试实验.实验结果表明,特定标示物图像和背景图像的尺寸缩小到40%～60%时,移动机器人视觉定位实时性提高30%～40%左右,特征点数减少20%～30%左右.在满足定位精度要求的情况下,大大提高了定位的实时性.由此可知,通过合理选择图像的尺寸不仅可以满足匹配精度,还能提高移动机器人的视觉定位效率,对于类似该实验使用的移动机器人视觉定位具有广泛的指导意义.
척도불변특정변환(Scale Invariant Feature Transform,SIFT)산법유우구유척도、선전화광조불변등특성,피엄범응용도이동궤기인시각정위영역.유우정위계산중사용적특정표시물도상급배경도상적척촌대정위계산시간영향교대,위제고이동궤기인시각정위적실시성능,분별개변대식별도상이급배경도상적척촌,진행료도상필배실시성측시실험.실험결과표명,특정표시물도상화배경도상적척촌축소도40%～60%시,이동궤기인시각정위실시성제고30%～40%좌우,특정점수감소20%～30%좌우.재만족정위정도요구적정황하,대대제고료정위적실시성.유차가지,통과합리선택도상적척촌불부가이만족필배정도,환능제고이동궤기인적시각정위효솔,대우유사해실험사용적이동궤기인시각정위구유엄범적지도의의.
SIFT (Scale Invariant Feature Transform) algorithm has the characteristics of scale,rotation and illumination invariability,so it is widely applied to the field of mobile robot vision positioning.Becanse of the change of special maker image size or background image size has a great influence on position calculation time,in order to improve the mobile robot's real-time vision positioning capability,the size of maker image and the back background image are changed respectively,and the corresponding real-time test of image matching is put forward.The test results show that when the image size reduces 40%～60%, the real-time character rises 30%～40%,and the characteristic points reduce 20%～30%,on the premise of matching precision,the position real-time capability increase markedly.Therefore a suitable size of image can improve the position real-time capability with a high matching precision and this method also gives guidance for the other similar use.