Knowledge Commons of Institute of Automation,CAS
A probabilistic spectral graph matching algorithm for robust correspondence between lunar surface images | |
Xu Yang![]() ![]() ![]() | |
2014 | |
会议名称 | WCICA 2014 |
会议录名称 | IEEE World Congresson Intelligent Control and Automation (WCICA) |
页码 | 385-390 |
会议日期 | 2014 |
会议地点 | Shenyang, China |
摘要 |
The correspondence between key points is an important problem in lunar surface image processing, and further lays the foundation for the navigation of a rover and the terrain reconstruction of the lunar surface. However, the problem is still challenging due to the existence of large scale and rotation transformations, reflected view of the same scenery, and different illumination conditions between acquired images as the lunar rover moves forward. Traditional appearance matching algorithms, like SIFT, often fail in handling the above situations. By utilizing the structural cues between points, in this paper we propose a probabilistic spectral graph matching method to tackle the point correspondence problem in lunar surface images acquired by Yutu lunar rover which has been recently transmitted to the moon by China’s Chang’e-3 lunar probe. Compared with traditional methods, the proposed method has three advantages. First, the incorporation of the structural information makes the matching more robust with respect to geometric transformations and illumination changes. Second, the assignment between points is interpreted in a probabilistic manner, and thus the best assignments can be easily figured out by ranking the probabilities. Third, the optimization problem can be efficiently approximately solved by spectral decomposition. Simulations on real lunar surface images witness the effectiveness of the proposed method. |
关键词 | Graph Matching |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/4813 |
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 | Zhi-Yong Liu |
推荐引用方式 GB/T 7714 | Xu Yang,Chuan-Kai Liu,Zhi-Yong Liu,et al. A probabilistic spectral graph matching algorithm for robust correspondence between lunar surface images[C],2014:385-390. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Probabilistic Spec(616KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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