Fig. 1. Image sampling diagram

Fig. 2. Fitting results of detection threshold and feature coefficient

Fig. 3. Method of image area segmentation. (a) Target image;(b) image to be matched

Fig. 4. Diagram of point selection. (a) Target image; (b) image to be matched

Fig. 5. Epipolar constraint and position constraint

Fig. 6. Effect of parameter values on matching results

Fig. 7. Results of feature point extraction by proposed method

Fig. 8. Results of feature point matching by proposed method

Fig. 9. Comparison of average running time for image feature point matching in different data sets. (a) TUM data set; (b) UAV data set;(c) images captured by mobile robots