Acta Geodaetica et Cartographica Sinica ›› 2015, Vol. 44 ›› Issue (10): 1132-1141.doi: 10.11947/j.AGCS.2015.20140622

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

ZHANG Zhengpeng1,2, JIANG Wanshou2, ZHANG Jing2   

  1. 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)

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

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