Image registration of multimodal data using 3D-GeoArcs

摘要

An accurate, flexible and scalable technique for multi-modal image registration is described, a technique that does not need to rely on direct feature matching and does not need to rely on precise geometric models. The methods and/or systems described in this disclosure enable the registration (fusion) of multi-modal images of a scene with a three dimensional (3D) representation of the same scene using, among other information, viewpoint data from a sensor that generated a target image, as well as 3D-GeoArcs. The registration techniques of the present disclosure may be comprised of three main steps, as shown in FIG. 1. The first main step includes forming a 3D reference model of a scene. The second main step includes estimating the 3D geospatial viewpoint of a sensor that generated a target image using 3D-GeoArcs. The third main step includes projecting the target image's data into a composite 3D scene representation.

主权项

1. A method for image registration, the method comprising:
establishing a three-dimensional reference model of a scene; acquiring a target image of the scene, the target image being captured with a sensor; determining the viewpoint of the sensor that captured the target image using one or more three-dimensional geoarcs,
wherein the viewpoint of the sensor is determined relative to the three-dimensional reference model; and generating a composite three-dimensional representation of the scene by associating data from the target image with data from the three-dimensional reference model,
wherein the viewpoint of the sensor is used to perform the association; wherein the step of determining the viewpoint of the sensor further comprises:
identifying one or more feature pairs in the three-dimensional reference model;identifying one or more feature pairs in a target image;for each feature pair in the target image,
associating the feature pair in the target image with one of the feature pairs in the three-dimensional reference model,estimating an angle associated with the feature pair in the target image,generating a three-dimensional geoarc surface associated with the three-dimensional reference model,
wherein the geoarc surface represents relationships between the feature pair in the target image and the estimated angle; andidentifying locations in three-dimensional space relative to three-dimensional reference model where two or more three-dimensional geoarc surfaces overlap.