Systems and methods for matching scenes using mutual relations between features

摘要

Embodiments of the present invention provide improved systems and methods for matching scenes. In one embodiment, a processor for implementing robust feature matching between images comprises: a first process for extracting a first feature set from a first image projection and extracting a second feature set from a second image projection; a memory for storing the first feature set and the second feature set; and a second process for feature matching using invariant mutual relations between features of the first feature set and the second feature set; wherein the second feature set is selected from the second image projection based on the identification of similar descriptive subsets between the second image projection and the first image projection.

主权项

1. A non-transitory computer readable media device having computer-executable instructions for a method for matching image features, the method comprising:
defining a first descriptive subset of features, including at least one minimal subset, from a feature set A extracted by at least one processor from a first image projection; selecting at least two second descriptive subsets from a feature set B extracted by the at least one processor from a second image projection, the at least two second descriptive subsets correlated to at least two minimal subsets, which meet a congruency criteria with the first descriptive subset of features from the feature set A, wherein the at least two second descriptive subsets are selected based on a similarity of invariant mutual relations between features of one of the at least one minimal subset in the first descriptive subset and invariant mutual relations between features of the at least two minimal subsets in the at least two second descriptive subsets, wherein the first descriptive subset and the at least two second descriptive subsets define at least two pairs of similar descriptive subsets; calculating at the at least one processor a transformation T from at least one of the at least two pairs of similar descriptive subsets to form a hypothesis H; evaluating at the at least one processor a quality of the hypothesis H; storing the hypothesis H into a memory device, the hypothesis H including transformation T and a plurality of paired features that support the hypothesis H; and selecting a final hypothesis HB having a highest quality as determined by a quality metric, the method further comprising at least one of:
determining coordinates for a new position by applying the transformation T belonging to the selected final hypothesis HB to coordinates in a navigation frame; andgenerating a map in the memory device for navigating a vehicle, the map based on matching features from the first image projection with the second image projection.