Abstract
In order to solve the wrong corner tracking problem, a novel corner tracking method is proposed combining the ORB algorithm and the KLT algorithm. In this proposed method, the ORB detector is introduced to extract the corners, and the ORB descriptor is used to describe the tracked corners in KLT tracking process. The descriptors of pre-frame and cur-frame can be obtained which is used to calculate the similarity coefficient by brute force matching method. Then the wrong tracked corners can be removed by judging the similarity coefficient. Several simulations are made to examine the performance of the proposed method. The experimental results show that the proposed method can remove the wrong tracked corners and achieve robust corner tracking performance, which can be better used in the visual odometer.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Davide, S., Friedrich, F.: Visual odometry: Part I: the first 30 years and fundamentals. IEEE Robot. Autom. Mag. 18(4), 80–92 (2011)
Luo, Y., Fu, Y., Zhang, Y.: A monocular-vision real-time matching algorithm based on FAST corners and Affine-improved random ferns. ROBOT 36(3), 271–278 (2014)
Chen, Y.H., Lin, H.Y.S., Su, C.W.: Full-frame video stabilization via SIFT feature matching. In: 2014 Tenth International Conference on Intelligent Information Hiding and Multimedia Signal Processing (IIH-MSP), pp. 361–364. IEEE (2014)
Jia, C., Panfeng, H.: Research of a real-time feature point tracking method based on the combination of improved SURF and P-KLT algorithm. Acta Aeronautica et Astronatica Sinica 34(5), 1204–1214 (2013)
Zhuo, L., Geng, Z., Zhang, J., et al.: ORB feature based web pornographic image recognition. Neurocomputing 173, 511–517 (2016)
Rublee, E., Rabaud, V., Konolige, K., et al.: ORB: an efficient alternative to SIFT or SURF. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2564–2571. IEEE (2011)
Rosten, E., Drummond, T.: Machine learning for high-speed corner detection. In: Computer vision–ECCV 2006, pp. 430–443 (2006)
Calonder, M., Lepetit, V., Strecha, C., et al.: Brief: binary robust independent elementary features. In: Computer Vision–ECCV 2010, pp. 778–792 (2010)
Huang, K.Y., Tsai, Y.M., Tsai, C.C., et al.: Feature-based video stabilization for vehicular applications. In: 2010 IEEE 14th International Symposium on Consumer Electronics (ISCE), pp. 1–2. IEEE (2010)
Lowe, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60(2), 91–110 (2004)
Nawaz, M.W., Bouzerdoum, A., Phung, S.L.: Optical flow estimation using sparse gradient representation. In: 2011 18th IEEE International Conference on Image Processing (ICIP), pp. 2681–2684. IEEE (2011)
Shi, J.: Good features to track. In: 1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Proceedings CVPR 1994, pp. 593–600. IEEE (1994)
Mian, A.S.: Realtime visual tracking of aircrafts. In: 2008 Computing: Techniques and Applications, DICTA 2008, Digital Image, pp. 351–356. IEEE (2008)
Abdat, F., Maaoui, C., Pruski, A.: Real time facial feature points tracking with Pyramidal Lucas-Kanade algorithm. In: 2008 the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2008, pp. 71–76. IEEE (2008)
Singh, M., Mandal, M., Basu, A.: Robust KLT tracking with Gaussian and laplacian of gaussian weighting functions. In: 2004 Proceedings of the 17th International Conference on Pattern Recognition, ICPR 2004, vol. 4, pp. 661–664. IEEE (2004)
Acknowledgments
This work is supported by Natural Science Foundation of China under Grant 61773389, and Research Foundation for the Introduction of Talent under Grant 2018RCL18.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Naixin, Q., Xiaofeng, L., Xiaogang, Y., Chuanxiang, L., Lijia, C., Shengxiu, Z. (2019). An ORB Corner Tracking Method Based on KLT. In: Deng, K., Yu, Z., Patnaik, S., Wang, J. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2018. Advances in Intelligent Systems and Computing, vol 856. Springer, Cham. https://doi.org/10.1007/978-3-030-00214-5_94
Download citation
DOI: https://doi.org/10.1007/978-3-030-00214-5_94
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00213-8
Online ISBN: 978-3-030-00214-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)