关键词：机器人；重叠图像；模拟信息
摘 要：For surveying operations with a low-cost robot limited to a down-looking camera and a sonar altimeter, it is common practice to ensure that there is enough overlap between time-consecutive images as this is the only source of navigation data. When the robot revisits a previously surveyed area, it is essential to detect and match the non time-consecutive images to close a loop and, thus improve the trajectory estimate. While creating the mosaic, most of the existing algorithms try to match all image pairs to detect the non time-consecutive overlapping images when there is no additional navigation information.