Feature matching is a fundamental and crucial process in visual SLAM, and precision has always been a challenging issue in feature matching. In this paper, based on a multi-level fine matching strategy, we propose a new feature matching method called KTGP-ORB. This method utilizes the similarity of local appearance in the Hamming space generated by feature descriptors to establish initial correspondences. It combines the constraint of local image motion smoothness, uses the GMS algorithm to enhance the accuracy of initial matches, and finally employs the PROSAC algorithm to optimize matches, achieving precise matching based on global grayscale information in Euclidean space. Experimental results demonstrate that the KTGP-ORB method reduces the error by an average of 29.92% compared to the ORB algorithm in complex scenes with illumination variations and blur.
@article{arxiv.2402.13488,
title = {A Feature Matching Method Based on Multi-Level Refinement Strategy},
author = {Shaojie Zhang and Yinghui Wang and Jiaxing Ma and Wei Li and Jinlong Yang and Tao Yan and Yukai Wang and Liangyi Huang and Mingfeng Wang and Ibragim R. Atadjanov},
journal= {arXiv preprint arXiv:2402.13488},
year = {2024}
}