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Graph-Based Registration and Blending for Undersea Image Stitching

文献类型：期刊论文

作者Yang, Xu2; Liu, Zhi-Yong2; Qiao, Hong2; Su, Jian-Hua2; Ji, Da-Xiong3; Zang, Ai-Yun1; Huang, Hai4
刊名ROBOTICA
出版日期2020-03-01
卷号38期号:3页码:396-409
关键词Undersea image stitching Feature correspondence Graph matching Energy minimization Nonsubmodular function
ISSN号0263-5747
DOI10.1017/S0263574719000699
通讯作者Huang, Hai(haihus@163.com)
英文摘要Image stitching is important for the perception and manipulation of undersea robots. In spite of a well-developed technique, it is still challenging for undersea images because of their inevitable appearance ambiguity caused by the limited light in the undersea environment, and local disturbance caused by moving objects, ocean current, etc. To get a clean and stable background panorama in the undersea environment, this paper proposes an undersea image-stitching method by introducing graph-based registration and blending procedures. Specifically, in the registration procedure, matching the features in each undersea image pair is formulated and solved by graph matching, to incorporate the structural information between features. In the blending procedure, an energy function on the indirect graph Markov random field is proposed, which takes both image consistency and neighboring consistency into consideration. Coincidentally, both graph matching and energy minimization can be mathematically formulated by integer quadratic programming problems with different constraints; the recently proposed graduated nonconvexity and concavity procedure is used to optimize both problems. Experiments on both synthetic images and real-world undersea images witness the effectiveness of the proposed method.
WOS关键词ENERGY MINIMIZATION
资助项目National Natural Science Foundation (NSFC) of China[61633009] ; National Natural Science Foundation (NSFC) of China[61503383] ; National Natural Science Foundation (NSFC) of China[U1613213] ; National Natural Science Foundation (NSFC) of China[61627808] ; National Natural Science Foundation (NSFC) of China[91648205] ; National Natural Science Foundation (NSFC) of China[U1509212] ; National Key R&D Program of China[2016YFC0300801] ; National Key R&D Program of China[2017YFB1300202] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32000000]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000512402600002
出版者CAMBRIDGE UNIV PRESS
资助机构National Natural Science Foundation (NSFC) of China ; National Key R&D Program of China ; Strategic Priority Research Program of Chinese Academy of Sciences
源URL[http://ir.ia.ac.cn/handle/173211/28562]  
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
通讯作者Huang, Hai
作者单位1.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Zhejiang Univ, Ocean Coll, Zhoushan 316000, Peoples R China
4.Harbin Engn Univ, Natl Key Lab Sci & Technol Underwater Vehicle, Harbin 150001, Peoples R China
推荐引用方式
GB/T 7714		 Yang, Xu,Liu, Zhi-Yong,Qiao, Hong,et al. Graph-Based Registration and Blending for Undersea Image Stitching[J]. ROBOTICA,2020,38(3):396-409.
APA Yang, Xu.,Liu, Zhi-Yong.,Qiao, Hong.,Su, Jian-Hua.,Ji, Da-Xiong.,...&Huang, Hai.(2020).Graph-Based Registration and Blending for Undersea Image Stitching.ROBOTICA,38(3),396-409.
MLA Yang, Xu,et al."Graph-Based Registration and Blending for Undersea Image Stitching".ROBOTICA 38.3(2020):396-409.

入库方式： OAI收割

来源：自动化研究所

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