关键词: 立体视觉, 目标识别与定位, SURF 算法, GrabCut 算法

Abstract:

In order to solve the issue that recognizing object from different angles and the mismatching of the contour center of the object in left and right images, this work combines the SURF ( Speeded Up Robust Features) algorithm and GrabCut algorithm. Firstly, we capture object images from different angles to establish object template image database in offline mode and use SURF algorithm for object recognition. Secondly,automatically initialize the GrabCut algorithm using SURF algorithm and realize the object contour extraction.Finally, we realize the matching of the contour center of the object based on gray relevant regional matching algorithm and get the localization of the object according to 3d reconstruction principle. Experiments show that the proposed method can recognize object successfully and locate the object accurately.

Key words: stereo vision, object recognition and localization, speeded up robust features(SURF) algorithm, GrabCut algorithm