基于改进 FAST 算法的移动机器人导航

摘要

In order to solve the problem of poor real-time performance and weak robustness of mobile robots during monocular vision navigation , a new improved navigational algorithm is put forward on the basis of the FAST algo-rithm and the one point RANSAC algorithm for mobile robots .This improved new algorithm is made up of three main steps.Firstly, the mobile robots use the FAST algorithm to collect the information by camera .Secondly,in the process of matching , we use the improved RANSAC algorithm to reject the mismatching .Finally, a 3-D map of the environment is built .Experiments show that this method can improve the real-time performance and robustness ef-fectively regarding the aspects of positioning and navigation of the mobile robots .%针对移动机器人在单目视觉导航方面实时性与鲁棒性较差的问题，提出一种基于 FAST 算法和一点RANSAC算法的移动机器人导航新方法，该方法主要由3个步骤组成：首先，机器人通过自身摄像头采用改进FAST角点提取算法采集周围的环境信息；其次，在匹配过程中采用结合扩展卡尔曼滤波的一点RANSAC算法进行误匹配剔除；最后，用得到的匹配点进行三维环境重建和地图创建。实验结果表明，改进方法能有效提高移动机器人定位与导航的实时性与鲁棒性。