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Method and a system for extracting and matching feature points in the simultaneous positioning and mapping technology

A feature point extraction and matching method technology, applied in the information field, can solve problems affecting the speed of algorithm operation, etc., and achieve the effect of uniform constraints and precise camera poses

Active Publication Date: 2019-03-22
PEKING UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the traditional motion restoration structure algorithm, since there is no prior information of feature point matching, it is necessary to traverse the image feature points when solving the correspondence between a 3D point and image feature points, which will naturally seriously affect the speed of the algorithm.

Method used

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  • Method and a system for extracting and matching feature points in the simultaneous positioning and mapping technology
  • Method and a system for extracting and matching feature points in the simultaneous positioning and mapping technology

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Embodiment Construction

[0041] The present invention will be described in further detail below through specific embodiments and accompanying drawings.

[0042] This embodiment provides a feature point extraction and matching method in simultaneous positioning and mapping technology, the process is as follows figure 1 shown, including the following steps:

[0043] 1) Perform the following operations on each key frame image extracted from the video sequence:

[0044] 2) If the key frame image is the first frame of the video, then extract n FAST corner points on the image (the specific steps of the extraction method of FAST corner points are discussed in detail in the pyramid-based corner point detection method in the following text), and Select the FAST corner point with the largest k before the response value to extract the BRIEF feature, and k<n;

[0045] 3) Otherwise (that is, the key frame image is not the first frame of the video) perform the following sub-steps:

[0046] 3.1) Extract k FAST co...

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Abstract

The invention relates to a method and a system for extracting and matching feature points in the simultaneous positioning and mapping technology. The method extracts n FAST corners from the first frame of the key frame image, and extracts BRIEF features from the FAST corners which are larger than the first k of the response value. For each frame from the second frame to the last frame, k FAST corners are extracted and BRIEF features are extracted, and the k FAST corners are matched with the feature points extracted from the 3D point cloud or the previous frame as feature points, and the camerapose is calculated. In this method, the matching process of some feature points is replaced by optical flow to improve the running speed, and the corner points of unextracted BRIEF feature are tracked by optical flow method, which saves the time of extracting descriptor from feature points. The invention ensures the extraction speed of the characteristic points, and at the same time, is conduciveto reconstructing more dense point clouds, and makes the distribution of the characteristic points more uniform.

Description

technical field [0001] The invention belongs to the field of information technology, and in particular relates to a feature point extraction and matching method and system in simultaneous positioning and mapping technology. Background technique [0002] Simultaneous localization and mapping (SLAM) technology, as an algorithm for fast mapping and localization of unknown scenes, has attracted extensive attention from academia and industry in recent years. This technology takes the captured video as input, and can reconstruct the 3D point cloud and camera parameters of the video scene in real time or near real time. With the development of industries such as autonomous driving and augmented reality, the application of this technology is becoming more and more widespread. This technology uses the relationship between the front and back frames of the video to effectively increase the efficiency of feature point matching, and the efficiency of the traditional motion restoration s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/269G06T7/73
CPCG06T2207/10021G06T2207/20164G06T7/246G06T7/269G06T7/73
Inventor 李胜蒙力陈毅松汪国平盖孟
Owner PEKING UNIV
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