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基于图像配准的栅格地图拼接方法

祝继华 周颐 王晓春 邗汶锌 马亮

祝继华, 周颐, 王晓春, 邗汶锌, 马亮. 基于图像配准的栅格地图拼接方法. 自动化学报, 2015, 41(2): 285-294. doi: 10.16383/j.aas.2015.c140055
引用本文: 祝继华, 周颐, 王晓春, 邗汶锌, 马亮. 基于图像配准的栅格地图拼接方法. 自动化学报, 2015, 41(2): 285-294. doi: 10.16383/j.aas.2015.c140055
ZHU Ji-Hua, ZHOU Yi, WANG Xiao-Chun, HAN Wen-Xin, MA Liang. Grid Map Merging Approach Based on Image Registration. ACTA AUTOMATICA SINICA, 2015, 41(2): 285-294. doi: 10.16383/j.aas.2015.c140055
Citation: ZHU Ji-Hua, ZHOU Yi, WANG Xiao-Chun, HAN Wen-Xin, MA Liang. Grid Map Merging Approach Based on Image Registration. ACTA AUTOMATICA SINICA, 2015, 41(2): 285-294. doi: 10.16383/j.aas.2015.c140055

基于图像配准的栅格地图拼接方法

doi: 10.16383/j.aas.2015.c140055
基金项目: 

国家自然科学基金(61203326,u1261111),中国博士后科学基金(2012M512004,2013T60878),陕西省自然科学基金(2014JM8342)资助

详细信息
    作者简介:

    周颐 西安交通大学广电中心副编审.主要研究方向为视频和图像处理.E-mail: zhouqinhan@mail.xjtu.edu.cn

    通讯作者:

    祝继华 西安交通大学软件学院副教授.主要研究方向为计算机视觉, 移动机器人和图像处理. 本文通信作者.E-mail: zhujh@mail.xjtu.edu.cn

Grid Map Merging Approach Based on Image Registration

Funds: 

Supported by National Natural Science Foundation of China (61203326, u1261111), China Postdoctoral Science Foundation (2012M512004, 2013T60878), and Natural Science Foundation of Shaanxi Province of China (2014JM8342)

  • 摘要: 栅格地图拼接是多移动机器人协同创建环境地图中的一项关键技术. 本文提出一种图像配准意义下的栅格地图拼接方法. 该方法将栅格地图拼接问题视为图像配准问题, 建立相应的目标函数, 并给出局部收敛的迭代最近点算法求解该目标函数. 为获得最优的拼接结果, 该方法从待拼接的地图中提取局部不变特征, 并借助随机抽样一致性算法分析初始拼接参数, 以作为迭代最近点算法的初值. 最后, 提出了拼接参数已知时的栅格地图融合规则. 实验结果表明, 该方法能可靠地实现栅格地图拼接, 且具有精度高和速度快的优点.
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出版历程
  • 收稿日期:  2014-01-20
  • 修回日期:  2014-05-27
  • 刊出日期:  2015-02-20

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