Monocular Visual Odometry Based on Improved BRISK Algorithm

doi:10.3969/j.issn.1006-2475.2018.09.013

Abstract

Abstract: In the traditional BRISK algorithm, a custom sampling pattern is used to describe the detected feature points, and a method based on the Hamming distance is used for feature matching. This feature point description and matching method of BRISK makes the low matching accuracy. Therefore, this paper proposes to combine SURF algorithm with high accuracy of matching and BRISK algorithm, and to use SURF descriptor and Euclidean distance-based matching method in BRISK feature point description and matching stage. The experimental results show that the accuracy of feature point matching is greatly improved when the time consumption of the algorithm is not greatly reduced. At the same time, the experiment also shows that the algorithm has good robustness.

Key words: BRISK, SURF, visual odometry, feature detection, feature matching

CLC Number:

TP242.6

FENG Jun, HUANG Duo-hui. Monocular Visual Odometry Based on Improved BRISK Algorithm[J]. Computer and Modernization, doi: 10.3969/j.issn.1006-2475.2018.09.013.

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