Abstract: In order to meet the requirements of positioning accuracy and real-time in robot servo grasping, we proposed a fast algorithm of feature matching and target location based on Harris and improved local binary pattern (LBP). Firstly, Harris detection algorithm was adopted to extract the image feature points. Secondly, we proposed a new definition method of feature point descriptor. The Hu momen was used to determine the  feature directions, and then the local images were standardized according to the feature directions, and the LBP features of the standardized local image were extracted as the feature point descriptors. Finally, The features matching were realized by calculating the Hamming distance between the descriptors of each feature point in the two images, and then according to the matching results, the homography matrix was estimated to locate the position of target in the scene image. Experimental results show that the algorithm has fast matching speed and high positioning accuracy.

Key words: feature detection, feature matching, target location, local binary pattern