[2] [2] MORAVEC H.Rover visual obstacle avoidance[C]//International Joint Conference on Artificial Intelligence,1981:785-790.

[3] [3] HARRIS C,STEPHENS M.Acombined corner and edge detector[C]//Fourth Alvey Vision Conference,1988:147-151.

[4] [4] SCHMID C,MOHR R.Local grayvalue invariants for image retrieval[J].IEEE Trans on Pattern Analysis and Machine Intelligence,1997,19(5):530-534.

[5] [5] LOWE D G.Distinctive image features from scale-invariant keypoints[J].International Journal of Computer Vision,2004,60(2):91-110

[6] [6] LOWE D G.Object recognition from local scale-invariant features[C]//International Conference on Computer Vision,1999:1150-1157

[7] [7] STEPHEN S,LOWE D G,LITTLE J J.Vision-based global localization and mapping for mobile robots[J].IEEE Transactions on Robotics,2005,21(3):364-375.

[8] [8] HELMER S,LOWE D G.Object recognition with many local features[C]//Workshop on Generative Model Based Vision 2004(GMBV),2004.

[9] [9] LINDEBERG T.Scale-space theory:A basic tool for analyzing structures at different scales[J].Journal of Applied Statistics,1994,21:224-270.

[10] [10] MORTENSEN E N,REESE L J,BARRETT W A..Computer vision and pattern recognition[J].IEEE Computer Society Conference,2005,1:184-190.