Research on improved gray correlation image matching used in monocular vision based mobile robot navigation

The function models made up of monocular-vision navigation were given.The concept of image matching and its use in map building of monocular-vision navigation were described.Based on the analysis of some typical technologies of image matching,the matching based on correlated pixel grayscale was studied,and an advanced matching method based on correlated pixel grayscale was put forward.Experiment shows that this method is feasible to solve the problems of the low-speed of normalized product correlation image matching algorithm and the difficulty of determining the threshold for sequential similarity detection algorithm.