Research on Binocular Visual System of Robotic Arm Based on Improved SURF Algorithm

Abstract

With the increasingly extensive application of robots in industrial production, visual of the robotic arm has become an important research direction in the field of robots, which is also recognized as believed to widely considered to the most vital directions of modern high-tech development. In the robot vision system, the binocular visual system is most widely applied. When the robotic arm based on binocular vision captures the object, SURF algorithm is adopted to realize feature point extraction and matching of images. Because of the influence of the objective factors, there is false match in the process of SURF matching of feature points. In this paper, SURF algorithm is improved and reverse feature vectors matching strategy is used to initialize the matching points set. Then the RANSAC algorithm is adopted to select the initial matching points set in accordance of the polar geometric model to get the final good match set. The experiment results show that the improved SURF algorithm has higher registration accuracy and faster speed than SURF.