Feature Based Image Registration Algorithm And Its Application In Robot Vision Navigation

With the improvement of the intelligence level of the whole society,people put forward higher requirements for robot technology.The localization and navigation of mobile robot is the key problem that needs to be overcome in the process of practical application.In order to judge the position of the robot,it is necessary to build a real-time map of the current environment.Feature detection and matching is the key technology in the process of building a map.In this paper,feature-based image registration method and its application in robot positioning and navigation are studied(1)In this paper,a new stable image registration model is proposed.The algorithm based on this model fuses SIFT features and image edge features to achieve image registration.Firstly,the tangent intersection points in the image are calculated to construct the feature descriptors based on SIFT feature points and tangent intersection points,and the corresponding feature matching pairs are calculated according to the calculated feature descriptors;then,for each pair of matched feature points,Calculate the matching degree,if the matching degree is less than a given threshold,then calculate the local geometric parameters,The algorithm is more stable and reliable because it makes full use of the point features and curve features in the image.(2)Due to the great difference in spectral components of multimodal images,the accuracy of traditional image registration algorithms is very low.Aiming at this problem,a multimodal image registration method is proposed.This method first transfers the style of the image to be registered to reduce the difference between the image and the reference image.,then the redundant texture in the generated image is removed,and finally the surf algorithm is used for image registration.The experimental results show that the method improves the accuracy of image registration and application scene.(3)This paper gives a brief overview of robot positioning and navigation technology,combined with the slam technology framework,puts forward the application scheme of this algorithm in robot positioning and navigation.