Keypoint matching on Occupancy grid maps

asked 2014-10-29 12:34:52 -0500

bvbdort gravatar image

updated 2014-11-18 07:59:41 -0500

Hi all ,

I am using ROS Mapstitch package based on Opencv to find transformation bewtween maps ( grayscale images of same size and resolution) to combine them.

The implementation is based on opencvs estimateRigidTransform function, ORB feature extraction and matching the distance of pairwise feature candidates

For my input files the result from estimateRigidTransform is not correct.

Can somebody has any suggestion or know anyother existing methods to improve the result.


input image1

image description


input image 2

image description


keypoint matching

image description

I can see Keypoints are matching to wrong location. In Ideal case upperwall keypoint should match to upperwall.


result

image description


Thanks.

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