空间约束的无人机影像SURF特征点匹配

与普通场景图像相比,无人机影像中纹理信息较丰富,局部特征与目标对象“一对多”的对应问题更加严重,经典SURF算法不适用于无人机影像的特征点匹配.为此,提出一种辅以空间约束的SURF特征点匹配方法,并应用于无人机影像拼接.该方法对基准影像整体提取SURF特征点,对目标影像分块提取SURF特征点,在特征点双向匹配过程中使用两特征点对进行空间约束,实现目标影像子图像与基准影像的特征点匹配;根据特征点对计算目标影像初始变换参数,估计目标影像特征点的匹配点在基准影像上的点位,对匹配点搜索空间进行约束,提高匹配速度与精度;利用点疏密度空间约束,得到均匀分布的特征点对.最后,利用所获取的特征点对实现无人机影像的配准与拼接,通过人工选取均匀分布的特征点对验证拼接精度.实验结果表明,采用本文方法提取的特征点能够得到较好的无人机影像拼接效果.     

Utilization of stereo disparity and optical flow information for the computer analysis of human interactions

We propose a system that simultaneously utilizes the stereo disparity and optical flow information of real-time stereo grayscale multiresolution images for the recognition of objects and gestures in human interactions. For real-time calculation of the disparity and optical flow information of a stereo image, the system first creates pyramid images using a Gaussian filter. The system then determines the disparity and optical flow of a low-density image and extracts attention regions in a high-density image. The three foremost regions are recognized using higher-order local autocorrelation features and linear discriminant analysis. As the recognition method is view based, the system can process the face and hand recognitions simultaneously in real time. The recognition features are independent of parallel translations, so the system can use unstable extractions from stereo depth information. We demonstrate that the system can discriminate the users, monitor the basic movements of the user, smoothly learn an object presented by users, and can communicate with users by hand signs learned in advance. Received: 31 January 2000 / Accepted: 1 May 2001 Correspondence to: I. Yoda (e-mail: yoda@ieee.org, Tel.: +81-298-615941, Fax: +81-298-613313)     

Stochastic stereo matching over scale

A stochastic optimization approach to stereo matching is presented. Unlike conventional correlation matching and feature matching, the method provides a dense array of disparities, eliminating the need for interpolation. First, the stereo-matching problem is defined in terms of finding a disparity map that satisfies two competing constraints: (1) matched points should have similar image intensity, and (2) the disparity map should vary as slowly as possible. These constraints are interpreted as specifying the potential energy of a system of oscillators. Ground states are approximated by a new variant of simulated annealing, which has two important features. First, the microcanonical ensemble is simulated using a new algorithm that is more efficient and more easily implemented than the familiar Metropolis algorithm (which simulates the canonical ensemble). Secondly, it uses a hierarchical, coarse-to-fine control structure employing Gaussian or Laplacian pyramids of the stereo images. In this way, quickly computed results at low resolutions are used to initialize the system at higher resolutions.Support for this work was provided by the Defense Advanced Research Projects Agency under contracts DCA 76-85-C-0004 and MDA 903-83-C-0084.     

Direct linear sub-pixel correlation by incorporation of neighbor pixels' information and robust estimation of window transformation

Standard methods for sub-pixel matching are iterative and nonlinear; they are also sensitive to false initialization and window deformation. In this paper, we present a linear method that incorporates information from neighboring pixels. Two algorithms are presented: one ‘fast’ and one ‘robust’. They both start from an initial rough estimate of the matching. The fast one is suitable for pairs of images requiring negligible window deformation. The robust method is slower but more general and more precise. It eliminates false matches in the initialization by using robust estimation of the local affine deformation. The first algorithm attains an accuracy of 0.05 pixels for interest points and 0.06 for random points in the translational case. For the general case, if the deformation is small, the second method gives an accuracy of 0.05 pixels; while for large deformation, it gives an accuracy of about 0.06 pixels for points of interest and 0.10 pixels for random points. They are very few false matches in all cases, even if there are many in the initialization. Received: 24 July 1997 / Accepted: 4 December 1997     

基于SIFT算法的红外图像拼接方法改进

针对红外图像拼接误匹配点过多、耗时过长等问题, 对基于SIFT算法的红外图像拼接方法进行改进. 首先利用高斯差分金字塔建立尺度空间, 然后利用FAST算法对高斯差分金字塔图像进行特征点提取, 提高了算法运行效率, 随后以特征向量的欧式距离作为特征点的相似性度量, 从而找到初始匹配点对, 并利用结合了方向一致性判断的Ransac算法剔除错误匹配点对, 最后用加权平衡算法实现图像的快速融合. 通过红外人物图像拼接实验, 证明改进后的算法在旋转、缩放、光照等情况下更稳定、效率更高, 有较大的理论和应用价值.     

定位图像匹配尺度与区域的摄像机位姿实时跟踪

目的 提出一种定位图像匹配尺度及区域的有效算法,通过实现当前屏幕图像特征点与模板图像中对应尺度下部分区域中的特征点匹配,实现摄像机对模板图像的实时跟踪,解决3维跟踪算法中匹配精度与效率问题。方法 在预处理阶段,算法对模板图像建立多尺度表示,各尺度下的图像进行区域划分,在每个区域内采用ORB（oriented FAST and rotated BRIEF）方法提取特征点并生成描述子,由此构建图像特征点的分级分区管理模式。在实时跟踪阶段,对于当前摄像机获得的图像,首先定位该图像所对应的尺度范围,在相应尺度范围内确定与当前图像重叠度大的图像区域,然后将当前图像与模板图像对应的尺度与区域中的特征点集进行匹配,最后根据匹配点对计算摄像机的位姿。结果 利用公开图像数据库（stanford mobile visual search dataset）中不同分辨率的模板图像及更多图像进行实验,结果表明,本文算法性能稳定,配准误差在1个像素左右;系统运行帧率总体稳定在2030 帧/s。结论 与多种经典算法对比,新方法能够更好地定位图像匹配尺度与区域,采用这种局部特征点匹配的方法在配准精度与计算效率方面比现有方法有明显提升,并且当模板图像分辨率较高时性能更好,特别适合移动增强现实应用。     

中国-中南半岛经济走廊重要节点城市发展状况 遥感分析

针对发展中国家城市经济与环境发展不均衡的问题,以中国-中南半岛经济走廊沿线的7个重要节点城市为例,采用面向对象的随机森林分类方法提取2000—2015年间的土地利用结果。将不透水层空间扩展指数、景观格局指数、区域NO2柱浓度和夜间灯光指数相结合,从城镇化、经济发展和环境变化3个角度对节点城市的发展状况进行研究。结果表明,面向对象随机森林分类方法能够有效提取不透水层,总体精度高于81%,Kappa系数高于0.82;在过去的15年间,各城市以“中心-边缘”或“沿河-内陆”的方向扩张,表现为“先聚集再扩散”“先扩散再聚集”“聚集”的3种扩张模式;城市中金边的夜间灯光指数增速最快,年变化率为1.71;金边、吉隆坡和新加坡为NO2柱浓度呈现负增长,而南宁、万象、河内和曼谷的NO2柱浓度呈现正增长。     

电力巡线无人机航拍图像匹配算法研究

基于局部特征的图像匹配算法是电力巡线无人机航拍图像匹配算法中最为实用的一种方法。针对传统匹配算法构建尺度空间会致使图像边缘信息丢失或者效率较低等问题,提出一种基于高斯曲率尺度空间的航拍图像匹配算法。借助高斯曲率滤波器构建一阶尺度空间,利用FAST算法提取特征点并选择特征采样区域,再以对特征采样区域建立二阶尺度空间并提取二阶尺度空间层内LIOP描述符,随后二阶尺度空间两两层LIOP描述符做差值并二值化处理,累加二值化值得到ASV-LIOP描述符完成匹配。在航拍图像上,使用SIFT、ORB、KAZE、AKAZE、改进KAZE等算法与所提对比实验,实验表明,所提算法正确匹配率平均提高5%左右,匹配效率约降低50%,可应用对稳定性要求较高且实时性较低的场景。     

A system to navigate a robot into a ship structure

Abstract. A prototype system has been built to navigate a walking robot into a ship structure. The 8-legged robot is equipped with an active stereo head. From the CAD-model of the ship good view points are selected, such that the head can look at locations with sufficient edge features, which are extracted automatically for each view. The pose of the robot is estimated from the features detected by two vision approaches. One approach searches in stereo images for junctions and measures the 3-D position. The other method uses monocular image and tracks 2-D edge features. Robust tracking is achieved with a method of edge projected integration of cues (EPIC). Two inclinometres are used to stabilise the head while the robot moves. The results of the final demonstration to navigate the robot within centimetre accuracy are given.     

Computer-assisted coloring by matching line drawings

An approach to automatically color line drawings based on feature matching is proposed. The motivation is that coloring 2D animation is still a labor-intensive process in current cartoon film production. The objective of our work is to investigate how to automatically color an image in a cartoon sequence on the basis of the previous frame. Our method first establishes the matching relationship of two images, after which it automatically paints one of them with the color information of the other using a region-matching algorithm. The region-matching algorithm is based on feature correspondences. The results show that the proposed algorithm can straightforwardly and robustly realize our objective and has a promising future for our next step to further automate conventional animation.     

一种基于SIFT特征的快速逐层遥感图像配准方法

当前SIFT特征分层配准方法中存在特征点匹配复杂度高以及不同时相地物变化导致特征点误匹配等问题,提出一种基于SIFT特征的“低分辨率配准\,高分辨率验证”快速逐层遥感图像配准方法。该方法针对同源同分辨率不同时相的遥感图像,通过在金字塔的低分辨率图层匹配特征点对并建立仿射变换模型,在金字塔的高分辨率图层评估并修正模型。实验表明：提出的方法在保证配准精度的前提下,有效提高了配准算法的效率。
     

A stereo matching paradigm based on the Walsh transformation

Describes a new feature-based stereo matching technique which exploits the Walsh transformation. The established matching strategy adopts and integrates the fundamental steps of the stereo vision problem: (a) detecting and locating feature points, (b) searching for potential matches, (c) validating a match through a global consistency check, and (d) determining the disparity of the matched feature points. The unique representation of stereo images into Walsh-based attributes unites the aforementioned steps into an integrated process which yields accurate disparity extraction. It is shown that the first and second Walsh attributes are used as operators approximating the first and second derivatives for the extraction and localization of feature points. The complete set of these attributes are then used as matching primitives contributing equally to the decision-making process and providing relevant information on both the characterization of a potential match and its validation through a consistency check. Computer results using images of varying complexities prove the soundness and the relatively fast processing time of this stereo matching technique     

一种改进的区域双目立体匹配方法

双目立体匹配是机器视觉中的热点、难点问题。分析了区域立体匹配方法的优缺点,提出了改进的区域立体匹配方法。首先,采集双目视觉图像对对图像对进行校正、去噪等处理,利用颜色特征进行图像分割,再用一种快速有效的块立体匹配算法对图像进行立体匹配。然后,在匹配过程中使用绝对误差累积(SAD)的小窗口来寻找左右两幅图像之间的匹配点。最后,通过滤波得到最终的视差图。实验表明:该方法能够有效地解决重复区域、低纹理区域、纹理相似区域、遮挡区域等带来的误匹配问题,能得到准确清晰的稠密视差图。     

Attributed point matching for automatic groundtruth generation

Geometric groundtruth at the character, word, and line levels is crucial for designing and evaluating optical character recognition (OCR) algorithms. Kanungo and Haralick proposed a closed-loop methodology for generating geometric groundtruth for rescanned document images. The procedure assumed that the original image and the corresponding groundtruth were available. It automatically registered the original image to the rescanned one using four corner points and then transformed the original groundtruth using the estimated registration transformation. In this paper, we present an attributed branch-and-bound algorithm for establishing the point correspondence that uses all the data points. We group the original feature points into blobs and use corners of blobs for matching. The Euclidean distance between character centroids is used as the error metric. We conducted experiments on synthetic point sets with varying layout complexity to characterize the performance of two matching algorithms. We also report results on experiments conducted using the University of Washington dataset. Finally, we show examples of application of this methodology for generating groundtruth for microfilmed and FAXed versions of the University of Washington dataset documents. Received: July 24, 2001 / Accepted: May 20, 2002     

A stereo-vision system for support of planetary surface exploration

Abstract. In this paper, we present a system that was developed for the European Space Agency (ESA) for the support of planetary exploration. The system that is sent to the planetary surface consists of a rover and a lander. The lander contains a stereo head equipped with a pan-tilt mechanism. This vision system is used both for modeling the terrain and for localization of the rover. Both tasks are necessary for the navigation of the rover. Due to the stress that occurs during the flight, a recalibration of the stereo-vision system is required once it is deployed on the planet. Practical limitations make it unfeasible to use a known calibration pattern for this purpose; therefore, a new calibration procedure had to be developed that could work on images of the planetary environment. This automatic procedure recovers the relative orientation of the cameras and the pan and tilt axes, as well as the exterior orientation for all the images. The same images are subsequently used to reconstruct the 3-D structure of the terrain. For this purpose, a dense stereo-matching algorithm is used that (after rectification) computes a disparity map. Finally, all the disparity maps are merged into a single digital terrain model. In this paper, a simple and elegant procedure is proposed that achieves that goal. The fact that the same images can be used for both calibration and 3-D reconstruction is important, since, in general, the communication bandwidth is very limited. In addition to navigation and path planning, the 3-D model of the terrain is also used for virtual-reality simulations of the mission, wherein the model is texture mapped with the original images. The system has been implemented, and the first tests on the ESA planetary terrain testbed were successful.     

The reconstruction of dynamic 3D structure of biological objects using stereo microscope images

In this paper, we address the analysis of 3D shape and shape change in non-rigid biological objects imaged via a stereo light microscope. We propose an integrated approach for the reconstruction of 3D structure and the motion analysis for images in which only a few informative features are available. The key components of this framework are: 1) image registration using a correlation-based approach, 2) region-of-interest extraction using motion-based segmentation, and 3) stereo and motion analysis using a cooperative spatial and temporal matching process. We describe these three stages of processing and illustrate the efficacy of the proposed approach using real images of a live frog's ventricle. The reconstructed dynamic 3D structure of the ventricle is demonstrated in our experimental results, and it agrees qualitatively with the observed images of the ventricle.     

基于深度学习的双目立体匹配方法综述

双目立体匹配是计算机视觉领域的经典问题,在自动驾驶、遥感、机器人感知等诸多任务中得到广泛应用。双目立体匹配的主要目标是寻找双目图像对中同名点的对应关系,并利用三角测量原理恢复图像深度信息。近年来,基于深度学习的立体匹配方法在匹配精度和匹配效率上均取得了远超传统方法的性能表现。将现有基于深度学习的立体匹配方法分为非端到端方法和端到端方法。基于深度学习的非端到端方法利用深度神经网络取代传统立体匹配方法中的某一步骤,根据被取代步骤的不同,该类方法被分为基于代价计算网络、基于代价聚合网络和基于视差优化网络的3类方法。基于深度学习的端到端方法根据代价体维度的不同可分为基于3D代价体和基于4D代价体的方法。从匹配精度、时间复杂度、应用场景等多个角度对非端到端和端到端方法中的代表性成果进行分析,并归纳各类方法的优点以及存在的局限性。在此基础上,总结基于深度学习的立体匹配方法当前面临的主要挑战并展望该领域未来的研究方向。     

Hierarchical stereo matching with image bit-plane slicing

We propose a new stereo matching framework based on image bit-plane slicing. A pair of image sequences with various intensity quantization levels constructed by taking different bit-rate of the images is used for hierarchical stereo matching. The basic idea is to use the low bit-rate image pairs to compute rough disparity maps. The hierarchical matching strategy is then carried out iteratively to update the low confident disparities with the information provided by extra image bit-planes. It is shown that, depending on the stereo matching algorithms, even the image pairs with low intensity quantization are able to produce fairly good disparity results. Consequently, variate bit-rate matching is performed only regionally in the images for each iteration, and the average image bit-rate for disparity computation is reduced. Our method provides a hierarchical matching framework and can be combined with the existing stereo matching algorithms. Experiments on Middlebury datasets show that the proposed technique gives good results compared to the conventional full bit-rate matching.