[1] [1] CHEN Tianhua,WANG Fulong.Real-time robust feature-point matching algorithm［J］. Journal of Image and Graphics,2016,21(9):1213-1220.

[2] [2] WU Weijiao,WANG Min,HUANG Xinhan,et al. SIFT feature matching algorithm based on vector angle［J］. Pattern Recognition and Artificial Intelligence, 2013,26(1):123-127.

[3] [3] YAN K, SUKTHANKAR R. PCA-SIFT: a more distinctive representation for local image descriptors［J］. CVPR, 2004, 2(2):506-513.

[4] [4] DAI Xuemei,LANG Lang,CHEN Mengyuan.Research of image feature point matching based on improved ORB algorithm［J］. Journal of Electronic Measurement and Instrument, 2016,30(2):233-240.

[5] [5] MUR-ARTAL R,TARDóS J D. ORB-SLAM2: an open-source SLAM system for monocular, stereo and RGB-D cameras［J］. IEEE Transactions on Robotics, 2017,33(5) :1255-1262.

[6] [6] ENDRES F, HESS J, STURM J, et al. 3-D mapping with an RGB-D camera［J］. IEEE Transactions on Robotics, 2017, 30(1):177-187.

[7] [7] ZHANG Yihao,SUN Dongmei,SHEN Yucheng,et al.Feature points extraction and matching technology of binocular vision measurement system［J］. Journal of Applied Optics,2016,37(6):866-871.

[8] [8] RUBLEE E, RABAUD V, KONOLIGE K,et al.ORB: An efficient alternative to SIFT or SURF［C］//2011 International Conference on Computer Vision.Barcelona:IEEE, 2011:2564-2571.

[9] [9] LOWE D. Distinctive image features from scale-invariant key points［J］. International Journal of Computer Vision. 2004, 60(2):91-110.

[10] [10] BAY H, ESS A，TUYTELAARS T. Speeded-up robust features (SURF)［J］.Computer Vision & Image Understanding, 2008,110(3):346-359.

[11] [11] ROSTEN E, DRUMMOND T. Machine learning for high-speed corner detection［C］//European Conference on Computer Vision. Nederland:Springer-Verlag, 2006:430-443.

[12] [12] CALONDER M,LEPETIT V, STRECHA C, et al. BRIEF: binary robust independent elementary features［C］// European Conference on Computer Vision.Nederland:Springer-Verlag, 2010:778-792.

[13] [13] BAI Xuebing,CHE Jin,MU Xiaokai,et al .Improved feature points matching algorithm based on speed-up robust feature and oriented fast and rotated brief［J］. Journal of Computer Applications, 2016,36(7):1923-1926.

[14] [14] XU Hongke,QIN Yan,CHEN Huiru. Feature points matching in images based on improved ORB［J］. Science Technology and Engineering, 2014,14(18):105-109.

[15] [15] JEAN-YVES B. Pyramidal implementation of the lucas kanade feature tracker description of the algorithm［R］.USA: Intel Corporation Microprocessor Research Labs, 2000.

[16] [16] FISCHLER M,BOLLES R. Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography［J］. Communications of the ACM,1981, 24(6):381-395.

[17] [17] ROSIN P L. Measuring corner properties［J］. Computer Vision and Image Understanding, 1999,73(2):291-307.