自适应运动结构特征的车载全景序列影像匹配方法

doi:10.11947/j.AGCS.2015.20140622

测绘学报 ›› 2015, Vol. 44 ›› Issue (10): 1132-1141.doi: 10.11947/j.AGCS.2015.20140622

自适应运动结构特征的车载全景序列影像匹配方法

张正鹏^1,2, 江万寿², 张靖²

1. 辽宁工程技术大学测绘与地理科学学院, 辽宁阜新 123000;
2. 武汉大学测绘遥感信息工程国家重点实验室, 湖北武汉 430079

收稿日期:2014-11-27 修回日期:2015-03-23 出版日期:2015-10-20 发布日期:2015-10-23
作者简介:张正鹏(1981—),男,博士,讲师,研究方向为车载移动测量技术.E-mail:zhangzhengpeng2004@126.com
基金资助:
国家自然科学基金(41501504);高等学校博士学科点专项科研基金(20122121120003);测绘地理信息公益性行业科研专项(201412007)

An Matching Method for Vehicle-borne Panoramic Image Sequence Based on Adaptive Structure from Motion Feature

ZHANG Zhengpeng^1,2, JIANG Wanshou², ZHANG Jing²

1. School of Geomatics, Liaoning Technical University, Fuxin 123000, China;
2. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China

Received:2014-11-27 Revised:2015-03-23 Online:2015-10-20 Published:2015-10-23
Supported by:
The National Natural Science Foundation of China(No.41501504),The Research Fund for the Doctoral Program of Higher Education(No.20122121120003),The Special Program for Scientific Research of Surveying, Mapping and Geoinformation in Public Interests(No.201412007)

摘要/Abstract

摘要： 以运动结构特征为约束条件的序列影像匹配,是基于多变量核密度函数,采用非参数均值漂移方法估计最优局部运动相似性结构特征的过程.核密度函数的带宽大小决定了匹配方法的收敛速度和精度.本文提出了一种可变带宽的自适应运动结构特征的车载全景序列影像匹配方法.首先以采样点在空间域和光流域的局部空间结构定义自适应的带宽矩阵.采用局部光流特征向量的距离加权法,描述光流域上运动相似性结构特征的松弛扩散过程.然后给出自适应多变量核密度函数的表达形式,并探讨了均值漂移向量的求解、终止条件以及种子点的选择方法.最后融合多尺度SIFT描述特征与运动结构特征,建立统一的全景影像匹配框架.试验选择车载移动测量系统获取的城市球全景序列影像,结果表明在内点率变化、物方尺度变化等情况下,本文方法可以实现自适应运动结构特征的相似性度量,提高匹配的正确点数和匹配率,算法表现出较强的稳键性.

关键词: 均值漂移, 自适应带宽, 运动结构特征, 全景影像匹配

Abstract: Panoramic image matching method with the constraint condition of local structure from motion similarity feature is an important method, the process requires multivariable kernel density estimations for the structure from motion feature used nonparametric mean shift. Proper selection of the kernel bandwidth is a critical step for convergence speed and accuracy of matching method. Variable bandwidth with adaptive structure from motion feature for panoramic image matching method has been proposed in this work. First the bandwidth matrix is defined using the locally adaptive spatial structure of the sampling point in spatial domain and optical flow domain. The relaxation diffusion process of structure from motion similarity feature is described by distance weighting method of local optical flow feature vector. Then the expression form of adaptive multivariate kernel density function is given out, and discusses the solution of the mean shift vector, termination conditions, and the seed point selection method. The final fusions of multi-scale SIFT the features and structure features to establish a unified panoramic image matching framework. The sphere panoramic images from vehicle-borne mobile measurement system are chosen such that a comparison analysis between fixed bandwidth and adaptive bandwidth is carried out in detail. The results show that adaptive bandwidth is good for case with the inlier ratio changes and the object space scale changes. The proposed method can realize the adaptive similarity measure of structure from motion feature, improves the correct matching points and matching rate, experimental results have shown our method to be robust.

Key words: mean shift, adaptive bandwidth, structure from motion feature, panoramic image matching

中图分类号:

P237

张正鹏, 江万寿, 张靖. 自适应运动结构特征的车载全景序列影像匹配方法[J]. 测绘学报, 2015, 44(10): 1132-1141.

ZHANG Zhengpeng, JIANG Wanshou, ZHANG Jing. An Matching Method for Vehicle-borne Panoramic Image Sequence Based on Adaptive Structure from Motion Feature[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(10): 1132-1141.

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自适应运动结构特征的车载全景序列影像匹配方法

An Matching Method for Vehicle-borne Panoramic Image Sequence Based on Adaptive Structure from Motion Feature

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