Abstract: Aiming at the problem of poor positioning accuracy and real-time in robot servo positioning and grasping, we proposed a feature matching  and  target location algorithm based on Harris-Hist. Firstly, Harris detection algorithm was adopted to extract the image feature points. Secondly, we proposed a new method to define descriptor of feature points. The  gray histogram of pixels in the circular neighborhood of the feature points was calculated to describe the feature points. The feature matching was realized by calculating the distance between the descriptors of each feature point in two images. Finally, according to the matching results, the homography matrix was estimated to locate the target in the scene image. Experimental results show that the  algorithm has fast  matching speed and high positioning accuracy, which can  meet the requirements of positioning accuracy and real-time in robot servo positioning and grasping.

Key words: feature detection, feature matching, target location