FisheyeImCorr

复杂场景中的红色交通标志牌检测与识别，结合颜色与圆形的标志牌定位，然后提取特征，最后用模板匹配的方法实现识别，内附图片和程序说明，对初学者有帮助(Red detection and recognition of traffic signs in complex scenes, the combination of colors and circular signs positioning, and feature extraction, the last with template matching methods to achieve recognition, included pictures and a description of the procedures for beginners)

说明：  图像特征提取，不变矩。hu矩。f1~f7.用于物体识别。(hu)

Retinex理论的基础理论是物体的颜色是由物体对长波（红色）、中波（绿色）、短波（蓝色）光线的反射能力来决定的，而不是由反射光强度的绝对值来决定的，物体的色彩不受光照非均匀性的影响，具有一致性，即retinex是以色感一致性（颜色恒常性）为基础的。不同于传统的线性、非线性的只能增强图像某一类特征的方法，Retinex可以在动态范围压缩、边缘增强和颜色恒常三个方面打到平衡，因此可以对各种不同类型的图像进行自适应的增强。(The basic theory of Retinex theory is the color of the object by object for the long wavelength (red), medium (green), short wave (blue) light reflection ability to decide, rather than by the intensity of reflected light of the absolute value to decide, the color of the object under illumination nonuniformity effects, consistent with the Retinex, that is based on color constancy (color constancy based). Different from the traditional linear, nonlinear image enhancement method of only one kind of features, Retinex can be in dynamic range compression, edge enhancement and three aspects of color constancy hit the balance, thus enhancing adaptive to a variety of different types of images can be.)

matlab环境下的立体图像校正程序，目的是要消除例如图像对的垂直视差(matlab environment three-dimensional image correction procedures, such as the purpose is to eliminate the image of the vertical parallax)

视觉slam十四讲，程序资料：g2o优化、cere拟合、特征点提取与匹配、点云拼接、opencv图像读取(Visual slam 14, program data: g2o optimization, cere fitting, feature point extraction and matching, point cloud mosaic, OpenCV image reading)

说明：  带一个视频。路径要选择好才能运行，选择解压的此文件的路径。对运动视频的检测 返回一对坐标和大小，可识别运动物体。(The detection of moving video returns a pair of coordinates and sizes, which can identify moving objects.)

三维激光点云配准是点云三维建模的关键问题之一。经典的 ICP 算法对点云初始位置要求较高且配准 效率较低，提出了一种改进的 ICP 点云配准算法。该算法首先利用主成分分析法实现点云的初始配准，获得较好 的点云初始位置，然后在经典 ICP 算法的基础上，采用 k － d tree 结构实现加速搜索，并利用方向向量夹角阈值去除 错误点对，提高算法的效率。实验表明，本算法流程在保证配准精度的前提下，显著提高了配准效率。 (Three-dimensional laser point cloud registration is one of the key three-dimensional point cloud model. High classical ICP algorithm to the initial position of the point cloud registration requirements and low efficiency, proposed an improved ICP point cloud registration algorithm. Firstly, the use of principal component analysis of the initial point cloud registration, get a better initial position of the point cloud, then the basis of classical ICP algorithm using k- d tree structure to achieve speed up the search, and using the direction vector angle the removal of the threshold point error and improve the efficiency of the algorithm. Experiments show that the algorithm processes to ensure the accuracy of registration under the premise, significantly improve the efficiency of registration.)

半自动分割彩色图像的颜色相同区域，可以达到PS的魔棒效果(Semi-automatic segmentation of color images the same color region can reach the magic wand effect of PS)

计算两个离散变量x和y的联合熵z = H（x，y）。 输入：x，y：两个相同长度的整数向量输出：z：联合熵 可以使用，有利于学习目的(Compute joint entropy z=H(x,y) of two discrete variables x and y. Input: of x, y: two integer vector of the same length Output: z: joint entropy good for learning purposes)

可以实现小目标的检测 ，用matlab语音编写 。(Small targets can be detected, written in MATLAB.)