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This article is about how to analyze ORB, SURF, SIFT feature point extraction methods and ICP matching methods, the editor feels very practical, so share with you to learn, I hope you can get something after reading this article, say no more, follow the editor to have a look.

When compiling visual SLAM, the book mentions ORB, SURF, SIFT extraction methods, as well as feature extraction methods brute force matching (Brute-Force Matcher) and fast nearest neighbor matching (FLANN). And 3D-3D: iterative nearest point (Iterative Closest Point,ICP) method, there are two ways to solve ICP: linear algebra (mainly SVD) and non-linear optimization.

Main.cpp#include # include "opencv2/opencv.hpp" # include "opencv2/core/core.hpp" # include "opencv2/features2d/features2d.hpp" # include "opencv2/highgui/highgui.hpp" # include # include using namespace std;using namespace cv;using namespace cv::xfeatures2d; double picture1_size_change=1;double picture2_size_change=1; bool show_picture = true Void extract_ORB2 (string picture1, string picture2) {/ /-- read the image Mat img_1 = imread (picture1, CV_LOAD_IMAGE_COLOR); Mat img_2 = imread (picture2, CV_LOAD_IMAGE_COLOR); assert (img_1.data! = nullptr & & img_2.data! = nullptr); resize (img_1, img_1, Size (), picture1_size_change, picture1_size_change) Resize (img_2, img_2, Size (), picture2_size_change, picture2_size_change); / /-initialize std::vector keypoints_1, keypoints_2; Mat descriptors_1, descriptors_2; Ptr detector = ORB::create (2000, (1.200000048F), 8100); Ptr descriptor = ORB::create (5000); Ptr matcher = DescriptorMatcher::create ("BruteForce-Hamming") / /-- first step: detect Oriented FAST corner position chrono::steady_clock::time_point T1 = chrono::steady_clock::now (); detector- > detect (img_1, keypoints_1); detector- > detect (img_2, keypoints_2); / /-- second step: calculate BRIEF descriptor descriptor- > compute (img_1, keypoints_1, descriptors_1) based on corner position Descriptor- > compute (img_2, keypoints_2, descriptors_2); chrono::steady_clock::time_point T2 = chrono::steady_clock::now (); chrono::duration time_used = chrono::duration_cast (T2-T1); / / cout

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