Research on Scene Matching Algorithm in the Vision-Aided Navigation System

the maching algorithm in the vision-aided navigation system must be real-time, high-precision and suitable for matching different images with some scaling and rotation. This paper proposed three algorithms based on SURF, SIFT and ASIFT features. The SURF algorithm is the better method than the SIFT and ASIFT in theory, because the use of integral image and basic Hessian-matrix approximation has greatly reduce the computational complexity. The experimental results show that the three algorithms can obtain similar detecting and matching performance, but the SIFT and ASIFT need too much time to realize real time. So, the SURF is more suitable for scene matching in the vision-aided navigation system.