自适应运动结构特征的车载全景序列影像匹配方法

摘要

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 frommotion 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 rel axation diffusion process of structure from motion simil arity feature is described by distance weighting method of local optical flow feature vector .Then the expression form of adaptive multivari ate 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 proposedmethodcanrealizetheadaptivesimilaritymeasureofstructurefrommotionfeature,improvesthe correct matching points and matching rate ,experimental results have shown our method to be robust .%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。