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Firstly, the Harris corner detector is improved to detect feature points and the method to describe the features of the points with SIFT (scale invariant feature transform) is enhanced. Secondly, Euclidian distance is utilized to get exact matching in the point set above. Finally, a simple efficient way to eliminate wrong matches is given. This method is proved to meet the needs of real-time binocular vision by actual test, and it can be applied to practice.