关键词: 色不变量, 图像匹配, 特征提取, 尺度空间, 视觉里程计

Abstract: That image feature extraction and matching will be done after the color image is transformed into gray one may cause color information loss and lead to wrong matching. In order to solve such problem, an image feature extraction and matching method named CSIFT (Color-based Scale-Invariant Feature Transform) was used to realize color image feature extraction and matching. Combining the color features with the geometrical features of the objects, feature points were extracted and neighbor information around these points was described using color invariant value as input information. Then the points between two images were matched using the nearest neighbor method. The algorithms were applied to vision-odometer, feature extraction and matching with two adjacent frames from camera were operated and compared with the SIFT algorithm in the experiment. The result shows that the algorithm is effective.

Key words: color invariance, image match, feature extraction, scale space, vision-odometer