2、论文信息 标题:A Feature Matching Method Based on Multi-Level Refinement Strategy作者:Shaojie Zhang论文:https://arxiv.org/pdf/2402.13488 3、方法 本文提出的多级细匹配特征匹配方法,主要分为以下三个步骤: 初始对应关系生成:使用KNN算法快速生成大量的一对二关联特征点对,然后利用阈值过滤方法根据最近邻距离...
bool XIAOC::FeatureMatching::MatchByDBoW( cv::Mat& desp1, cv::Mat& desp2, std::vector<cv::DMatch>& matches ) 输入参数: 1.参考帧对应的描述子矩阵 2.前帧对应的描述子矩阵 3.装匹配结果的容器 过程:清空装匹配结果的容器,然后利用函数ComputeBoWVector( cv::Mat& desp, DBoW3::BowVector& bo...
AAM is integrated into the well-known ORB feature matching pipeline, resulting in a significant improvement. Although remarkably matching accuracy, AAM can reduce computation efficient. To overcome this, we select a grid-based motion statistics for separating true correspondences from false ones at ...
patch.set_facecolor('silver') show_img_with_matplotlib(img_matching, "Feature Matching", 1) show_img_with_matplotlib(img_obj, "Detected Object", 2) plt.show() 6. 完整代码 将所有步骤结合起来,得到完整的图像匹配与目标检测程序 orb_feature_matching.py: #!/usr/bin/env python # -*- coding...
In order to overcome the shortcoming of origin feature matching and extract moving objects accurately for real-time driving assistance system. We present a novel moving object detection method based on improved ORB. Firstly, The ORB is used to extract and match feature points. Secondly, we ...
Aiming at the problem of low matching accuracy and slow matching speed of ORB ( oriented FAST androtated BRIEF) feature matching algorithm under complex environment changes,a quadtree decomposition method andimproved RANSAC ( random sampling consistency) ORB algorithm of the method. The original image...
Key words: Simultaneous Localization and Mapping(SLAM), feature point, feature matching, Grid-based Motion Statistics(GMS), dense mapping, point cloud filter 引用本文 刘洋, 陈俊, 胡诗佳, 赖佳华. 改进特征匹配的ORB-SLAM稠密建图算法[J]. 计算机工程, 2023, 49(10): 247-254. Yang LIU, Jun...
BRIEF 描述子(Binary robust independent elementary feature) 特征匹配 实践 参考 特征点 特征点是图像中具有代表性的点,这些点在图像发生变化时,比如图像的旋转、缩放,将保持不变。图像中的角点和边缘相对来说更加“特别”,因为它们在不同的图像中辨识度更强。因此一种直观的提取特征的方式就是在图像之间辨认角点,...
改进的orb特征匹配算法
关键词:特征匹配;阈值;RANSAC;8点改进算法;基本矩阵;极线约束中图分类号:TP391.41ORBfeaturematchingbasedepipolarconstraintQinXiaofei,PiJunqiang,LiFeng*(SchoolComputerEngineering,UniversityTechnology,Shanghai200093,China,Abstract:Imagematchingmachinevision.AddressingexistingORBfeaturematchingalgorithmlowmatchingquality,paper...