Volume 36 Issue 10
Oct.  2010
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Xu Chao, Fan Yaozu, Shen Xiaoronget al. Gyroscope aided feature matching method in vision navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(10): 1149-1152. (in Chinese)
Citation: Xu Chao, Fan Yaozu, Shen Xiaoronget al. Gyroscope aided feature matching method in vision navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(10): 1149-1152. (in Chinese)

Gyroscope aided feature matching method in vision navigation

  • Received Date: 13 Aug 2009
  • Publish Date: 31 Oct 2010
  • 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.

     

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