[1] [1] LOWE D. Distinctive image features from scale-invariant keypoints, cascade filtering approach ［J］. International Journal of Computer Vision, 2004, 60(2): 91-110.

[2] [2] YANG J C, YU K, GONG Y H, et al.. Linear spatial pyramid matching using sparse coding for image classification ［C］. IEEE Conference on Computer Vision and Pattern Recognition, 2009, 1794-1801.

[3] [3] ROSTEN E, PORTER R, DRUMMOND T. Faster and better: a machine learning approach to corner detection ［J］. IEEE Transaction on Pattern Analysis and Machine Intelligence, 2010, 32(1): 105-119.

[4] [4] JIA P, XU N, ZHANG Y. Automatic target recognition based on local feature extraction ［J］. Opt. Precision Eng.,2013, 21(7): 1898-1905.(in Chinese)

[5] [5] ZHAO L R, ZHU W, CAO Y G, et al.. Application of improved SURF algorithm to feature matching ［J］. Opt. Precision Eng.,2013, 21(12): 3263-3271．(in Chinese)

[6] [6] KE Y, SUKTHANKAR R. PCA-SIFT: a more distinctive representation for local image descriptor［C］. Proceedings of IEEE International Conference on Computer Vision and Pattern Recognition, 2004,2: 506-513.

[7] [7] JI H, WU Y H, SUN H H, et al.. SIFT feature matching algorithm with global information ［J］. Opt. Precision Eng., 2009, 17(2): 439-444．(in Chinese)

[8] [8] CHARIOT A, KERIVEN R. GPU-boosted online image matching［C］. in Proceeding of the 19th Conference on Pattern Recognition, 2008, 1-4.

[9] [9] SILPA-ANAN C, HARTLEY R. Optimised KD-trees for fast image descriptor matching［C］. in Proc. IEEE International Conference on Computer Vision and Pattern Recognition, 2008, 1-8.

[10] [10] FARAJ A, DANIJELA R D, AXEL G. Speeded up image matching using split and extended SIFT features ［C］. Proceedings of the 5th International Conference on Computer Vision Theory and Applications (VISAPP 2010), 2010, 287-295.

[11] [11] DALAL N, TRIGGS B. Histograms of oriented gradients for human detection ［C］. IEEE Computer Society Conference on Computer Society, CVPR 2005, 886-893.

[12] [12] SABDI A, HASHEMI H, NADER E S. On the PDF of the sum of random vectors ［J］. IEEE Transactions on Communications, 2000, 48(1): 7-12.

[13] [13] Assistantrobot FRIENDIII［EB/OL］.［2014-01-16］ http: //www.iat.uni-bremen.de/sixcms/detail.php id=555

[14] [14] XU W T, HUNG Y S, NIRANJAN M, et al.. Asymptotic mean and variance of gini correlation for bivariate normal samples ［J］. IEEE Transaction on Signal Processing, 2010, 58(2): 522-534.

[15] [15] NEUMANN L, MATAS J. Text localization in real-world images using efficiently pruned exhaustive search ［C］. 2011 International Conference on Document Analysis and Recognition, ICDAR, 2011, 687-691.

[16] [16] CHUM O, MATAS J. Optimal randomized RAN-SAC ［J］. IEEE Transaction on Pattern Analysis and Machine Intelligence, 2008, 30(8): 1472-1482.