基于半直接方法的序列影像直线特征跟踪匹配算法

Line Tracking and Matching Algorithm Based on Semi-direct Method in Image Sequence

针对序列影像相邻帧间相对运动较小的特点,提出了一种基于半直接方法的序列影像直线特征跟踪匹配算法。首先,选取关键帧进行点特征和直线特征的提取与匹配;然后,利用运动恢复结构算法对直线上的特征点进行重建;接着,通过反向合成图像对齐算法实现相邻帧的直线特征点的跟踪和摄像机相对位姿估的计;最后,由跟踪特征点实现对直线特征的跟踪匹配。采用两组不同的序列影像数据对算法进行了验证,实验表明所提算法能够实现序列影像直线特征的准确跟踪匹配,并能同时估计得到摄像机的位姿;摄像机的位姿估计误差随着帧数的增加而累积。文中还提出了一种新的序列影像直线特征跟踪匹配算法,该算法仅利用直线上的稀疏特征点就可实现对相邻影像间的直线特征的准确跟踪匹配,并能估计得到摄像机的运动轨迹。但是,该方法存在累积误差,需要进一步改进。

Considering the small motion in image sequence,this paper proposed a line tracking and matching algorithm based on semi-direct method is proposed.Firstly,extracting and matching of feature point and line should be conducted in the key frames.Secondly,feature point of the line is reconstructed by using the method of structure from motion.Then,feature point tracking and relative pose estimation are calculated through inverse compositional image alignment algorithm.Finally,line matching result is obtained based on feature point tracking result.Two group of image sequence experiments were conducted to validate the proposed algorithm.The experiments results indicate that the proposed algorithm is capable of tracking and matching the lines in the image sequence,and can estimate the camera pose simultaneously.And camera pose error accumulates with the increase of image frame.A novel line matching algorithm in image sequence was proposed.The algorithm can achieve line tracking and matching and obtain camera track at the same time through sparse feature point of the line.However,the algorithm needs to be corrected because of accumulate error.