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《Journal of Jiamusi University(Natural Science Edition)》 2019-06
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Experimental Study on Influencing Factors of SLAM Visual Feature Point Extraction and Matching

MU Li-li;HE Shi-zheng;GUO Feng;CHEN Kai;YAO Pan-tao;College of Mechanical Engineering, Anhui University of Science and Technology;  
Feature extraction and matching are the most basic visual front-end steps of SLAM for mobile robots, which directly determine the effect of SLAM location and mapping. In order to verify the impact of environmental changes on different feature points extraction and matching rate, the RANSAC strategy is used to eliminate mismatching. Then the matching effects of SIFT, SURF and ORB feature points are studied from the perspectives of illumination intensity, image rotation, image blurring, scale change and image weak texture. Experiments show that ORB feature points complete the matching between images with the fastest speed, high robustness to environmental changes, good operational performance and matching characteristics, and it is an ideal front-end visual feature point selection.
【CateGory Index】: TP391.41;TP242
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