%0 Journal Article %A LYU Dongyang %A ZHANG Lei %A ZHANG Dan %A YAO Xingtian %A SU Boyong %T Dynamic Matching of Target Corners in Robot Grasping Guided by Optical Flow %D 2021 %R 10.3778/j.issn.1002-8331.1912-0421 %J Computer Engineering and Applications %P 200-206 %V 57 %N 6 %X

For the problem of feature points dynamic matching in online estimation of object pose, a dynamic matching method of target corners guided by optical flow is proposed, in which the wood block is used as the experimental object. Yolov2-tiny model is used to detect the object for location and classification. Shi-Tomasi algorithm is used to extract corners among the region of proposal. The LK optical flow algorithm is used for corner matching by tracking corners between two adjacent frames. For the problem of feature points migration during optical flow tracking, the corners are re-extracted in the 11×11 neighborhood centered on the tracking points. Experiments show that the algorithm can dynamically match the target corners in the video sequence in real time, and corner matching results are more accurate and real-time than SIFT and Harris-SIFT algorithm.

%U http://cea.ceaj.org/EN/10.3778/j.issn.1002-8331.1912-0421