DCS变频器通用22A-V1P5N104

22A-V1P5N104

22A-V1P5N104

• 动机：特征点具有局部差异性

• 以每个点为中心取一个窗口，例如，5×5/7×7的像素，描述特征点周围环境

• 此点具有差异性->窗口往任意方向移动，则周围环境变化较大->具有局部差异性

• 小二乘线性系统

• 加和符号：表示窗口内每个像素

• w：表示权重，权值1或者以点为中心的高斯权重（离点越近权重越大）

• I：表示像素，RGB/灰度

• u，v：窗口移动的方向

• H：harris矩阵，由两个方向上的梯度构建而成

• 图像梯度：

• Harris矩阵：

• Harris矩阵H 的特征值分析

• 两个特征值反映相互垂直方向上的变化情况，分别代表变化快和慢的方向，特征值大变化快，特征值小变化慢

• λ1 ≈ λ2 ≈ 0， 两个方向上变化都很小，兴趣点位于光滑区域

• λ1 > 0 , λ2 ≈ 0 ，一个方向变化快，一个方向变化慢，兴趣点位于边缘区域

• λ1 , λ2 > 0 ， 两个方向变化都很快，兴趣点位于角点区域（容易判断）

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