| 摘 要： |
Automatic co-registration of multi-epoch Unmanned Aerial Vehicle (UAV) image sets remains challenging due to the radiometric differences in complex dynamic scenes. Specifically, illumination changes and vegetation variations usually lead to insufficient and spatially unevenly distributed common tie points (CTPs), resulting in under-fitting of co-registration near the areas without CTPs. In this paper, we propose a novel Common-Feature- Track-Matching (CFTM) approach for UAV image sets co-registration, to alleviate the shortage of CTPs in complex dynamic scenes. Instead of matching features between multi-epoch images, we first search correspondences between multi-epoch feature tracks (i.e., groups of features corresponding to the same 3D points), which avoids the removal of matches due to unreliable estimation of the relative pose between inter-epoch image pairs. Then, the CTPs are triangulated from the successfully matched track pairs. Since an even distribution of CTPs is crucial for robust co-registration, a block-based strategy is designed, as well as enabling parallel computation. Finally, an iterative optimization algorithm is developed to gradually select the best CTPs to refine the poses of multi-epoch images. We assess the performance of our method on two challenging datasets. The results show that CFTM can automatically acquire adequate and evenly distributed CTPs in complex dynamic scenes, achieving a high co-registration accuracy approximately four times higher than the state-of-the-art in challenging scenario. Our code is available at https://github.com/lixinlong1998/CoSfM. |
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