轮式移动机器人DGPS与图像匹配组合导航技术

摘要

利用卡尔曼滤波器将DGPS与SIFT图像匹配算法进行了深组合，同时针对SIFT算法计算量大、计算时间长的缺点，对其进行了改进，经过实验，改进后的算法能够很好的满足系统本身对于实时匹配的要求，提高了系统导航的精度。%Using Kalman filter for the deep integration of DGPS and image matching, we improved it because the SIFT feature description of an image is typically large and slow to compute. The experiments show that the improved algorithm can meet the system’s requirements for real-time matching for integrated navigation, increased the system navigation accuracy.