Graph-Based Registration and Blending for Undersea Image Stitching

doi:10.1017/S0263574719000699

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Graph-Based Registration and Blending for Undersea Image Stitching
	Yang, Xu1 ; Liu, Zhi-Yong1 ; Qiao, Hong1 ; Su, Jian-Hua1 ; Ji, Da-Xiong 2; Zang, Ai-Yun 3; Huang, Hai 4
发表期刊	ROBOTICA
ISSN	0263-5747
	2020-03-01
卷号	38 期号:3 页码:396-409
通讯作者	Huang, Hai(haihus@163.com)
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.
关键词	Undersea image stitching Feature correspondence Graph matching Energy minimization Nonsubmodular function
DOI	10.1017/S0263574719000699
关键词[WOS]	ENERGY MINIMIZATION
收录类别	SCI
语种	英语
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] ; 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]
项目资助者	National Natural Science Foundation (NSFC) of China ; National Key R&D Program of China ; Strategic Priority Research Program of Chinese Academy of Sciences
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000512402600002
出版者	CAMBRIDGE UNIV PRESS
七大方向——子方向分类	智能机器人
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/28563
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
通讯作者	Huang, Hai
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Zhejiang Univ, Ocean Coll, Zhoushan 316000, Peoples R China 3.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China 4.Harbin Engn Univ, Natl Key Lab Sci & Technol Underwater Vehicle, Harbin 150001, Peoples R China
第一作者单位	中国科学院自动化研究所
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.