摘要： 提出一种基于双目相机的图像拼接方法，对安放在移动机器人上不同位置的2个相机在同一时刻所拍摄到的图像进行拼接，引入自适应的非极大值抑制技术，只在图像的重叠区域进行Harris角点检测，并结合小波变换和对极几何，对图像进行快速特征匹配。在图像融合中，构造一种非线性的过渡函数，使图像重叠区域之间的过渡更平滑。实验结果表明，与传统方法相比，该方法的效率更高。

关键词: 小波变换, 对极几何, 图像配准, 图像拼接

Abstract: This paper proposes a method for mosaicing images acquired simultaneously by binocular cameras fixed on different positions of a robot. It introduces adaptive non-maximal suppression techniques, implements Harris corner detection in the overlapped region of the image, and combines wavelet transformation with epipolar geometry to match image features efficiently. In image fusion, it also constructs a nonlinear transitional function, enabling the transition smoother in the overlapped region. Experimental results show the efficiency of the method is improved greatly compared with traditional approaches.

Key words: wavelet transformation, epipolar geometry, image registration, image mosaicing

中图分类号: 

• TP391