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�������պ����ѧѧ�� 2010, Vol. 36 Issue (10) :1149-1152    DOI:
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�쳬, ��ҫ��, ������*
�������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100191
Gyroscope aided feature matching method in vision navigation
Xu Chao, Fan Yaozu, Shen Xiaorong*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� In order to solve the problem of feature points mismatching when there is no camera platform in vision navigation, a gyroscope aided points matching method was proposed. The relationship between the output of gyroscope and the coordinate changes of features was built. The nearest cross-correlation method and bidirectional matching algorithm was adopted to perform the point matching and matching result verification respectively. The sub-pixel matching result was obtained by interpolation. The error sources of the matching method were analyzed. The effect of the gyroscope output and the focus length calculation errors among them was calculated. The experiment of real scene proved that, the proposed method has much improvement in accuracy over scale invariant feature transform (SIFT), and it also has a better practicability for it does not need any other equipment except the existing ones.
Keywords�� vision navigation   feature match   gyroscope   sub-pixel   interpolation     
Received 2009-08-13; published 2010-11-12


About author: �� ��(1984-),��,����������,��ʿ��,xchao@asee.buaa.edu.cn.
�쳬, ��ҫ��, ������.�Ӿ������������Ǹ���������ƥ���㷨[J]  �������պ����ѧѧ��, 2010,V36(10): 1149-1152
Xu Chao, Fan Yaozu, Shen Xiaorong.Gyroscope aided feature matching method in vision navigation[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(10): 1149-1152
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