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Underwater image matching by incorporating structural constraints

文献类型：期刊论文

作者Yang, Xu1; Liu, Zhi-Yong1,2,3; Qiao, Hong1,2,3; Song, Yong-Bo1; Ren, Shu-Nan1; Ji, Da-Xiong4; Zheng, Sui-Wu1,5
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2017-12-20
卷号14期号:6页码:0
关键词Underwater Image Image Matching Underwater Robot Feature Correspondence
DOI10.1177/1729881417738100
文献子类Article
英文摘要Underwater robot plays an important role in underwater perception and manipulation tasks. Vision information processing is essential for the intelligent perception of an underwater robot, in which image matching is a fundamental topic. Feature-based image matching is suitable for the underwater environment. However, current underwater image matching usually directly applies those methods with a general purpose or designed for images obtained from the land to underwater images. The problem is that the blurring appearance caused feature descriptor ambiguity, which may greatly deteriorate the performance of these methods on underwater images. Aiming at problem, this article provides an underwater image matching framework by incorporating structural constraints. By integrating the appearance descriptor and structural information by a graph model, the feature correspondence-based image matching is formulated and solved by a graph matching method. Particularly, to solve the outlier feature problem, the graph matching method is applicable to the case where outlier features exist in both underwater images. Experiments on both synthetic points and real-world underwater images validate the effectiveness of the proposed method.
WOS关键词GRAPH ; GNCCP
WOS研究方向Robotics
语种英语
WOS记录号WOS:000418542000001
资助机构National Natural Science Foundation of China(61503383 ; National Key Research and Development Plan of China(2016YFC0300801) ; Beijing Municipal Science and Technology(D16110400140000 ; Guangdong Science and Technology Department(2016B090910001) ; 61633009 ; D161100001416001) ; U1613213 ; 61375005 ; 61210009 ; 61773047)
源URL[http://ir.ia.ac.cn/handle/173211/15487]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Zhongguancun East Rd 95, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai, Peoples R China
3.Univ Chinese Acad Sci, Beijing, Peoples R China
4.Zhejiang Univ, Ocean Coll, Zhoushan, Peoples R China
5.Huizhou Adv Mfg Technol Res Ctr Co Ltd, Huizhou 516000, Peoples R China
推荐引用方式
GB/T 7714		 Yang, Xu,Liu, Zhi-Yong,Qiao, Hong,et al. Underwater image matching by incorporating structural constraints[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2017,14(6):0.
APA Yang, Xu.,Liu, Zhi-Yong.,Qiao, Hong.,Song, Yong-Bo.,Ren, Shu-Nan.,...&Zheng, Sui-Wu.(2017).Underwater image matching by incorporating structural constraints.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,14(6),0.
MLA Yang, Xu,et al."Underwater image matching by incorporating structural constraints".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 14.6(2017):0.

入库方式： OAI收割

来源：自动化研究所

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