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描述符与特征点结合的实时激光里程计
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作者 高山 田景坤 +1 位作者 邰宇 王桐 《应用科技》 2024年第6期89-94,共6页
针对同步定位与建图在低功耗嵌入式系统中无法满足实时定位建图的问题,提出了一种描述符与特征点结合的实时激光里程计。本文将描述符法与特征点法相结合,前端将角点特征关联改为描述符关联,该方法首先以划分扇区的方式对角点进行点云... 针对同步定位与建图在低功耗嵌入式系统中无法满足实时定位建图的问题,提出了一种描述符与特征点结合的实时激光里程计。本文将描述符法与特征点法相结合,前端将角点特征关联改为描述符关联,该方法首先以划分扇区的方式对角点进行点云聚类生成关键点,然后根据关键点之间的向量关系生成多维描述符,通过描述符匹配降低点云帧间匹配时间和位姿优化时间,从而降低系统的运行时间,达到定位建图的实时性,后端在描述符约束生成的粗位姿基础上,对角点、面点使用帧到地图(ScanToMap)的两步列文伯格–马夸尔特法(Levenberg-Marquardt,LM)非线性优化,进一步保证建图的实时性和鲁棒性。在KITTI公开数据集中进行实验测试的结果表明,研究可为同步定位与建图在低功耗嵌入式系统中满足实时定位建图提供参考。 展开更多
关键词 实时定位 里程计 点云聚类 关键点生成 向量关系 描述符匹配 非线性优化 实时性
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Multi-sensor image registration using multi-resolution shape analysis 被引量:2
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作者 YUAN Zhen-ming WU Fei ZHUANG Yue-ting 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2006年第4期549-555,共7页
Multi-sensor image registration has been widely used in remote sensing and medical image field, but registration performance is degenerated when heterogeneous images are involved. An image registration method based on... Multi-sensor image registration has been widely used in remote sensing and medical image field, but registration performance is degenerated when heterogeneous images are involved. An image registration method based on multi-resolution shape analysis is proposed in this paper, to deal with the problem that the shape of similar objects is always invariant. The contours of shapes are first detected as visual features using an extended contour search algorithm in order to reduce effects of noise, and the multi-resolution shape descriptor is constructed through Fourier curvature representation of the contour’s chain code. Then a minimum distance function is used to judge the similarity between two contours. To avoid the effect of different resolution and intensity distribution, suitable resolution of each image is selected by maximizing the consistency of its pyramid shapes. Finally, the transformation parameters are estimated based on the matched control-point pairs which are the centers of gravity of the closed contours. Multi-sensor Landsat TM imagery and infrared imagery have been used as experimental data for comparison with the classical contour-based registration. Our results have been shown to be superior to the classical ones. 展开更多
关键词 Image registration Shape descriptor Feature matching Multi-resolution representation
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