Matching color uncelebrated images using differential invariants

摘要

This paper presents a new method for matching points of interest in stereoscopic, uncelebrated color images. It consists in characterizing color points using differential invariants. We define additional first order invariants, using color information, and we show the first order is sufficient to make the characterization accurate. The characterization thus obtained is invariant to orthogonal image transformations. In addition, we make it robust enough for affine illumination transformations. We go on to present a generalization of a gray-level corner detector to the case of color images. Thirdly, we propose a robust and fast incremental technique for matching points of interest in uncelebrated cases, which works robustly and rapidly whatever the number of points to be matched. Our matching scheme is evaluated using stereo color images consisting of may points, with viewpoint and illumination variations. The results obtained clearly show the relevance of our approach.