CN104331899B - A kind of SAR image registration method and device - Google Patents
A kind of SAR image registration method and device Download PDFInfo
- Publication number
- CN104331899B CN104331899B CN201410682140.1A CN201410682140A CN104331899B CN 104331899 B CN104331899 B CN 104331899B CN 201410682140 A CN201410682140 A CN 201410682140A CN 104331899 B CN104331899 B CN 104331899B
- Authority
- CN
- China
- Prior art keywords
- sar image
- point
- auxiliary
- gcp
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
Abstract
The invention discloses a kind of SAR image registration methods, and feature point extraction is carried out respectively to main SAR image and the first auxiliary SAR image;The characteristic point of the auxiliary SAR image of characteristic point and first to main SAR image carries out global bi-directional matching, obtains global ground control point GCP set;Global GCP set based on the acquisition performs the first auxiliary SAR image to the global registration of main SAR image, obtains the second auxiliary SAR image after global registration;The characteristic point of characteristic point and the second auxiliary SAR image to main SAR image carries out local bi-directional matching, obtains part GCP set;Local GCP set based on the acquisition performs the second auxiliary SAR image to the local registration of main SAR image, obtains the auxiliary SAR image of third.The invention also discloses a kind of SAR image registration apparatus.
Description
Technical field
The present invention relates to synthetic aperture radar (SAR, Synthetic Aperture Radar) technical field more particularly to
A kind of SAR image registration method and device.
Background technology
Since SAR has round-the-clock, round-the-clock working characteristics so that it has critically important in earth observation technical field
Effect.A large amount of earth observation technology needs several SAR figures for analyzing the same area different time, different incidence angles obtain
Picture, such as interference SAR (InSAR), information fusion technology, change detection techniques etc..However the premise that these technologies can be implemented
It is that two width or multiple image can be accurately registrated in geometry in radiation.
However, due to the continuous improvement of on-board SAR image data resolution, the SAR image that is obtained in different flight paths
Fairly obvious difference is had, also, different zones topography variation causes the distortion between image to form also very in same image
Complexity can not obtain the image of registration by the transformation of simple general image.
Invention content
Existing to solve the problems, such as, an embodiment of the present invention is intended to provide a kind of SAR image registration method and devices.
What the technical solution of the embodiment of the present invention was realized in:
An embodiment of the present invention provides a kind of synthetic aperture radar SAR image registration method, the method includes:
Feature point extraction is carried out respectively to main SAR image and the first auxiliary SAR image;
The characteristic point of the auxiliary SAR image of characteristic point and first to main SAR image carries out global bi-directional matching, obtains globally
Face control point GCP gathers;
Global GCP set based on the acquisition performs the first auxiliary SAR image to the global registration of main SAR image, obtains
The second auxiliary SAR image after global registration;
The characteristic point of characteristic point and the second auxiliary SAR image to main SAR image carries out local bi-directional matching, acquisition office
Portion GCP gathers;
Local GCP set based on the acquisition performs the second auxiliary SAR image to the local registration of main SAR image, obtains
The auxiliary SAR image of third.
In said program, the characteristic point progress of the characteristic point and the first auxiliary SAR image of described pair of main SAR image is global two-way
Matching, including:
Determine the forward direction matching point set F of main SAR image set of characteristic points and the first auxiliary SAR image set of characteristic pointsg;
Determine the backward matching point set B of main SAR image set of characteristic points and the first auxiliary SAR image set of characteristic pointsg;
To the set FgWith set BgIntersection is taken to obtain the bi-directional matching point set of main SAR image and the first auxiliary SAR image
Mg, the MgAs overall situation GCP gathers.
In said program, the main SAR image feature point set is combined into Ss, the first auxiliary SAR image feature point set be combined into Sm;
Any feature point in the set is represented with following formula:
Wherein, (x, y) represents the location information of characteristic point;V represents the normalization characteristic description vectors of characteristic point.
In said program, the main SAR image set of characteristic points SmWith the first auxiliary SAR image set of characteristic points SsForward direction
Match point set FgIt determines in the following manner:
Wherein, the R (Pm,Ss) it is main SAR image characteristic point PmWith the first auxiliary SAR image set of characteristic points SsIt is European
The ratio of distance;The RthFor R (Pm,Ss) predetermined threshold value;P′sFor SsMiddle arbitrary characteristics point.
In said program, the R (Pm,Ss) determine in the following manner:
WhereinRepresent in the first auxiliary SAR image with PmAt a distance of nearest
Point;Represent in the first auxiliary SAR image with PmAt a distance of secondary near point.
In said program, the main SAR image set of characteristic points SmWith the first auxiliary SAR image set of characteristic points SsIt is backward
Match point set FgIt determines in the following manner:
Wherein, the R (Ps,Sm) it is the first auxiliary SAR image characteristic point PsWith main SAR image set of characteristic points SmIt is European
The ratio of distance;The RthFor R (Ps,Sm) predetermined threshold value.
In said program, the R (Ps,Sm) determine in the following manner:
Wherein,Represent in main SAR image with PsAt a distance of nearest point;Represent in main SAR image with PsAt a distance of secondary near point.
In said program, the bi-directional matching point set MgIt determines in the following manner:
Mg={ (Ps,Pm)|(Ps,Pm)∈Fg∩(Ps,Pm)∈Bg}={ (Ps,Pm)|Ps∈Ms,Pm∈Mm}。
In said program, the global GCP set based on acquisition performs the first auxiliary SAR image to the complete of main SAR image
Office's registration, including:
According to Mm1And Ms1Determine the transformation matrix A of affine transformation;Wherein, Mm1It is MgIn belong to the overall situation of main SAR image
GCP gathers, Ms1It is MgIn belong to auxiliary SAR image global GCP set;
Affine transformation is respectively made to all characteristic points of auxiliary image according to the determining transformation matrix A, the overall situation is obtained and matches
Auxiliary image after standard.
In said program, the transformation matrix A is determined in the following manner:
It is as affine transformation respectively to all characteristic points of auxiliary image according to the transformation matrix A:
Im1=AIs1
The Im1Represent Mm1In GCP, Is1Represent Ms1In GCP.
In said program, the characteristic point progress of the characteristic point and the second auxiliary SAR image of described pair of main SAR image is local two-way
Matching, including:
To each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, perform following locate
Reason:
Determine the forward direction matching point set F of the main SAR image characteristic point and the second auxiliary SAR image characteristic pointl;
To each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, determine the main SAR
The backward matching point set B of image characteristic point and the second auxiliary SAR image characteristic pointl;
To the set FlWith set BlIntersection is taken to obtain pair of the main SAR image characteristic point and auxiliary SAR image characteristic point
To matching point set Ml。
In said program, the main SAR image characteristic point and the second auxiliary SAR image characteristic point are determined in the following manner
Forward direction matching point set Fl:
Wherein, the feature point set of the described second auxiliary SAR image is combined intoIt is describedIn characteristic point beIt is describedFor main SAR image characteristic point PmWith the second auxiliary SAR image set of characteristic pointsEuclidean distance ratio;The Rth
ForPredetermined threshold value.
It is described in said programIt is determined by following formula:
Wherein,Represent in the second auxiliary SAR image with PmAt a distance of nearest
Point;Represent in the second auxiliary SAR image with PmAt a distance of secondary near point.
In said program, the main SAR image characteristic point and the second auxiliary SAR image characteristic point are determined in the following manner
Forward direction matching point set Bl:
Wherein, the feature point set of the described second auxiliary SAR image is combined intoIt is describedIn characteristic point beIt is describedFor the second auxiliary SAR image characteristic pointWith main SAR image set of characteristic points SmEuclidean distance ratio;The Rth
ForPredetermined threshold value.
It is described in said programIt is determined by following formula:
Wherein,Represent in main SAR image withAt a distance of nearest point;Represent in main SAR image withAt a distance of secondary near point.
In said program, the bi-directional matching point set MlIt is determined by following formula:
In said program, the local GCP set based on acquisition performs the second auxiliary SAR image to the office of main SAR image
Portion is registrated, including:
According to Mm2And Ms2Determine the transformation matrix A of affine transformation;Wherein, Mm2It is MlIn belong to the overall situation of main SAR image
GCP gathers, Ms2It is MlIn belong to auxiliary SAR image global GCP set;
According to the determining transformation matrix B to described second auxiliary SAR image characteristic point radius DthIn the range of all spies
Sign point respectively makees affine transformation.
In said program, the transformation matrix B is determined in the following manner:
It is as affine transformation respectively to all characteristic points of auxiliary image according to the transformation matrix B:
Im2=BIs2
The Im2Represent Mm2In GCP, Is2Represent Ms2In GCP.
An embodiment of the present invention provides a kind of synthetic aperture radar SAR image registration apparatus, described device includes:Characteristic point
Extraction module, the first bi-directional matching module, the first registration module, the second bi-directional matching module and the second registration module;Wherein,
The feature point extraction module, for carrying out feature point extraction respectively to main SAR image and the first auxiliary SAR image;
The first bi-directional matching module clicks through for the feature of the characteristic point to main SAR image and the first auxiliary SAR image
Row overall situation bi-directional matching obtains global ground control point GCP;
First registration module performs the first auxiliary SAR image to main SAR image for the global GCP based on the acquisition
Global registration obtains the second auxiliary SAR image after global registration;
The second bi-directional matching module, for the characteristic point to main SAR image and the feature of the second auxiliary SAR image
Point carries out local bi-directional matching, obtains part GCP set;
Second registration module performs the second auxiliary SAR image to master for the local GCP set based on the acquisition
The local registration of SAR image obtains the auxiliary SAR image of third.
The SAR image registration method and device that the embodiment of the present invention is provided, to main SAR image and the first auxiliary SAR image
Feature point extraction is carried out respectively;The characteristic point of the auxiliary SAR image of characteristic point and first to main SAR image carries out two-way global
Match, obtain global ground control point GCP set;Global GCP set based on the acquisition performs the first auxiliary SAR image to master
The global registration of SAR image obtains the second auxiliary SAR image after global registration;Characteristic point to main SAR image and described second
The characteristic point of auxiliary SAR image carries out local bi-directional matching, obtains part GCP set;Local GCP set based on the acquisition is held
The second auxiliary SAR image of row obtains the auxiliary SAR image of third to the local registration of main SAR image;It so, it is possible to auxiliary SAR image
After carrying out global registration, local registration is further carried out, the registration essence so as to which the SAR image finally obtained be made to reach higher
Degree.
Description of the drawings
Fig. 1 is a kind of flow diagram of SAR image registration method provided in an embodiment of the present invention;
Fig. 2 is a kind of structure diagram of SAR image registration apparatus provided in an embodiment of the present invention.
Specific embodiment
In the embodiment of the present invention, feature point extraction is carried out respectively to main SAR image and the first auxiliary SAR image;Main SAR is schemed
The characteristic point of the characteristic point of picture and the first auxiliary SAR image carries out global bi-directional matching, obtains global ground control point GCP set;
Global GCP set based on the acquisition performs the first auxiliary SAR image to the global registration of main SAR image, obtains global registration
The second auxiliary SAR image afterwards;It is two-way that the characteristic point of characteristic point and the second auxiliary SAR image to main SAR image carries out part
Matching obtains part GCP set;Local GCP set based on the acquisition performs the second auxiliary SAR image to main SAR image
Local registration obtains the auxiliary SAR image of third.
Below by drawings and the specific embodiments, the present invention is described in further detail.
The embodiment of the present invention realizes a kind of SAR image registration method, as shown in Figure 1, this method includes following steps:
Step 101:Feature point extraction is carried out respectively to main SAR image and the first auxiliary SAR image;
It is main SAR image by the definition of a wherein width SAR image specifically, in this step, inputting two width SAR images,
Then other width SAR image is as the first auxiliary SAR image;
Next, feature point extraction is carried out to the two width SAR image using feature point extraction algorithm;The spy that may be used
Sign point extraction algorithm includes:Scale invariant features transform (SIFT) algorithm, SURF algorithm (Scale invariant features transform SIFT algorithms
Acceleration version algorithm) and Corner Detection Harris algorithms etc.;
After feature point extraction, two set of characteristic points will be generated for main SAR image and the first auxiliary SAR image,
Specifically, the feature point set for setting main SAR image is combined into Sm, the feature point set of the first auxiliary SAR image is combined into Ss, characteristic point here
Set SmAnd SsIn arbitrary characteristics point PkIt is illustrated as following form:
Wherein, V is the normalization description vectors of characteristic point;(x, y) is characterized location information a little;Characteristic point PkPosition
P can be usedk(x, y) is represented, characteristic point PkDescriptor can use Pk.V it represents.
Step 102:The characteristic point of the auxiliary SAR image of characteristic point and first to main SAR image carries out global bi-directional matching, obtains
Obtain global GCP set;
Specifically, the characteristic point progress of the characteristic point and the first auxiliary SAR image of described pair of main SAR image is two-way global
Match, including:
Determine the forward direction matching point set F of main SAR image set of characteristic points and the first auxiliary SAR image set of characteristic pointsg;Really
The backward matching point set B of fixed main SAR image set of characteristic points and the first auxiliary SAR image set of characteristic pointsg;To the set Fg
With set BgIntersection is taken to obtain the bi-directional matching point set M of main SAR image and the first auxiliary SAR imageg, the MgAs overall situation GCP
Set.
Specifically, the main SAR image set of characteristic points SmWith the first auxiliary SAR image set of characteristic points SsForward direction matching
Point set FgIt is determined by following formula:
Wherein, the R (Pm,Ss) it is main SAR image characteristic point PmWith auxiliary SAR image set of characteristic points SsEuclidean distance
Ratio;The RthFor R (Pm,Ss) predetermined threshold value;P′sFor SsMiddle arbitrary characteristics point.
Specifically, R (the Pm,Ss) determined by following formula:
Wherein,Represent in the first auxiliary SAR image with PmAt a distance of nearest
Point;Represent in the first auxiliary SAR image with PmAt a distance of secondary near point.
Specifically, the main SAR image set of characteristic points SmWith the first auxiliary SAR image set of characteristic points SsBackward matching
Point set FgIt is determined by following formula:
Wherein, the R (Ps,Sm) it is the first auxiliary SAR image characteristic point PsWith main SAR image set of characteristic points SmIt is European
The ratio of distance;The RthFor R (Ps,Sm) predetermined threshold value.
Wherein, the R (Ps,Sm) determined by following formula:
Wherein,Represent in main SAR image with PsAt a distance of nearest point;Represent in main SAR image with PsAt a distance of secondary near point.
Specifically, the bi-directional matching point set MgIt is determined by following formula:
Mg={ (Ps,Pm)|(Ps,Pm)∈Fg∩(Ps,Pm)∈Bg}={ (Ps,Pm)|Ps∈Ms,Pm∈Mm} (6)
Step 103:The overall situation that global GCP set based on the acquisition performs the first auxiliary SAR image to main SAR image is matched
Standard obtains the second auxiliary SAR image after global registration;
Specifically, the global GCP set based on the acquisition performs the first auxiliary SAR image to the complete of main SAR image
Office's registration, including:
According to Mm1And Ms1Determine the transformation matrix A of affine transformation;Wherein, Mm1 is MgIn belong to the overall situation of main SAR image
GCP gathers, Ms1It is MgIn belong to auxiliary SAR image global GCP set;
Affine transformation is respectively made to all characteristic points of auxiliary image according to the determining transformation matrix A, the overall situation is obtained and matches
Auxiliary image after standard.
The transformation matrix A is determined in the following manner:
It is as affine transformation respectively to all characteristic points of auxiliary image according to the transformation matrix A:
Im1=AIs1 (8)
Wherein, the Im1Represent Mm1In GCP, Is1Represent Ms1In GCP.
Further, before global registration of the first auxiliary SAR image to main SAR image is performed, can also include following
Step:
After filtering out the wrong GCP points in overall situation GCP set;First auxiliary SAR figures are performed based on remaining overall situation GCP
Global registration as arriving main SAR image;
Specifically, consistent (RANCAC, the Random Sample Consensus) algorithm of random sample can be used to filter out mistake
Mismatching point specifically includes following processing step:
S201:From global registration GCP set MgMiddle one RANSAC sample of random selection, the RANSAC samples include 3
A matching GCP points pair;
S202:According to this 3 matching GCP points to calculating transformation matrix A, that is, solve 3 GCP points to substituting into formula
(7) transformation matrix A is calculated;
S203:According to sample set Mg, affine transformation matrix A calculates the error of each sample point, i.e., | | lm-Als||,ls∈
Ms,lm∈Mm;
When error is less than given threshold, which is ranged " consistent point ", counts the quantity of " consistent point ";It is described
Threshold value can be configured according to actual needs, be not restricted here.
S204:According to whether being optimal consistent collection when element number judgement currently unanimously collects in previous set, if so, more
New current optimal consistent collection;
S205:Ratio p shared by update current " consistent point " repeats S201 if p is more than the minimum error probability allowed
To S204 continue iteration, until current erroneous Probability p be less than minimum error probability, a transformation model M is thus determinedC,
Transformation model MCRemaining overall situation GCP gathers after as having filtered out error matching points;
Step 104:Characteristic point to main SAR image and to carry out part with the characteristic point of the described second auxiliary SAR image two-way
Matching obtains part GCP set;
Specifically, the characteristic point of described pair of main SAR image and to carry out part with the characteristic point of the described second auxiliary SAR image double
To matching, including:
To each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, perform following locate
Reason:
Determine the forward direction matching point set F of the main SAR image characteristic point and the second auxiliary SAR image characteristic pointl;
To each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, determine the main SAR
The backward matching point set B of image characteristic point and the second auxiliary SAR image characteristic pointl;
To the set FlWith set BlIntersection is taken to obtain the main SAR image characteristic point and the second auxiliary SAR image characteristic point
Bi-directional matching point set Ml。
Specifically, the main SAR image characteristic point and the second auxiliary SAR image characteristic point can be determined in the following manner
Forward direction matching point set Fl:
Wherein, the feature point set of the described second auxiliary SAR image is combined intoIt is describedIn characteristic point beIt is describedFor main SAR image characteristic point PmWith the second auxiliary SAR image set of characteristic pointsEuclidean distance ratio;The Rth
ForPredetermined threshold value.
For multidate Airborne High-resolution SAR image, due to different imaging geometries, the distortion shape of different atural objects
Formula is also different, thus, true distortion only can not be characterized using only single global registration, cannot also reach accurate
Image registration purpose, therefore, the embodiment of the present invention need further to carry out local registration on the basis of global configuration, so as to
Greatly improve registration accuracy.
Step 105:Match the part that local GCP set based on the acquisition performs the second auxiliary SAR image to main SAR image
Standard obtains the auxiliary SAR image of third;
Specifically, the local GCP set based on the acquisition performs the second auxiliary SAR image to the office of main SAR image
Portion is registrated, including:
According to Mm2And Ms2Determine the transformation matrix A of affine transformation;Wherein, Mm2It is MlIn belong to the overall situation of main SAR image
GCP gathers, Ms2It is MlIn belong to auxiliary SAR image global GCP set;
According to all spies of the determining transformation matrix B to described second in the range of auxiliary SAR image characteristic point radius Dth
Sign point respectively makees affine transformation.
Specifically, the transformation matrix B is determined in the following manner:
Specifically, it is as affine transformation respectively to all characteristic points of auxiliary image according to the transformation matrix B:
Im2=BIs2
The Im2Represent Mm2In GCP, Is2Represent Ms2In GCP.
By step 105, after having performed the second auxiliary SAR image to the local registration of main SAR image, it is auxiliary to obtain third
SAR image is final registration image.
In order to realize the above method, the embodiment of the present invention additionally provides a kind of SAR registration apparatus, as shown in Fig. 2, the dress
Put including:Feature point extraction module 21, the first bi-directional matching module 22, the first registration module 23, the second bi-directional matching module 24
With the second registration module 25;Wherein,
The feature point extraction module 21 carries for carrying out characteristic point respectively to main SAR image and the first auxiliary SAR image
It takes;
The first bi-directional matching module 22, for the characteristic point to main SAR image and the characteristic point of the first auxiliary SAR image
Global bi-directional matching is carried out, obtains global ground control point GCP;
First registration module 23 performs the first auxiliary SAR image to main SAR for the global GCP set based on the acquisition
The global registration of image obtains the second auxiliary SAR image after global registration;
The second bi-directional matching module 24, for the spy of the characteristic point to main SAR image and the second auxiliary SAR image
Sign point carries out local bi-directional matching, obtains part GCP set;
Second registration module 25 performs the second auxiliary SAR image to master for the local GCP set based on the acquisition
The local registration of SAR image obtains the auxiliary SAR image of third.
In specific implementation process, features described above point extraction module 21, the first bi-directional matching module 22, the first registration module
23rd, the second bi-directional matching module 24 and the second registration module 25 can by radar signal grounded receiving station signal processor,
Central processing unit (CPU, Central in the equipment of PC machine, server or any achievable image processing function
Processing Unit), microprocessor (MPU, Micro Processing Unit), digital signal processor (DSP,
Digital Signal Processor) or programmable logic array (FPGA, Field-Programmable Gate
Array it) realizes;
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the shape of the embodiment in terms of hardware embodiment, software implementation or combination software and hardware can be used in the present invention
Formula.Moreover, the present invention can be used can use storage in one or more computers for wherein including computer usable program code
The form of computer program product that medium is implemented on (including but not limited to magnetic disk storage and optical memory etc.).
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (17)
1. a kind of synthetic aperture radar SAR image registration method, which is characterized in that the method includes:
Feature point extraction is carried out respectively to main SAR image and the first auxiliary SAR image;
The characteristic point of the auxiliary SAR image of characteristic point and first to main SAR image carries out global bi-directional matching, obtains global ground control
Make point GCP set;
GCP points wrong in the global ground control point GCP set are filtered out, the global GCP set after being filtered out;
First auxiliary SAR image is performed to the global registration of main SAR image based on the global GCP set after described filtered out, is obtained
The second auxiliary SAR image after to global registration;
The characteristic point of characteristic point and the second auxiliary SAR image to main SAR image carries out local bi-directional matching, obtains part
GCP gathers;Wherein, to each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, perform with
Lower processing:
Determine the forward direction matching point set F of the main SAR image characteristic point and the second auxiliary SAR image characteristic pointl;Wherein, before described
To matching point set FlIt determines in the following manner:
Wherein, the feature point set of the described second auxiliary SAR image is combined intoIt is describedIn characteristic point beIt is described
For main SAR image characteristic point PmWith the second auxiliary SAR image set of characteristic pointsEuclidean distance ratio;The RthForPredetermined threshold value;It is describedCharacteristic point for the second auxiliary SAR imageWith main SAR image characteristic point PmSky
Between distance;The SmSet of characteristic points for main SAR image;It is describedForMiddle arbitrary characteristics point;
To each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, determine the main SAR image
The backward matching point set B of characteristic point and the second auxiliary SAR image characteristic pointl;
To the set FlWith set BlTake two-way of the intersection acquisition main SAR image characteristic point and auxiliary SAR image characteristic point
With point set Ml;
Local GCP set based on the acquisition performs the second auxiliary SAR image to the local registration of main SAR image, obtains third
Auxiliary SAR image;
Wherein, it is described GCP points wrong in the global ground control point GCP set are filtered out including:
A sample is selected from global registration GCP set, the sample includes 3 matching GCP points pair;
According to described 3 matching GCP points to obtaining transformation matrix;
The affine transformation matrix is gathered according to the global registration GCP, the error that GCP set is each put is obtained, when error is small
When given threshold, which is added in unificant set;
Judge whether current unificant set is optimal unificant set according to element number in current unificant set, if so, update
Current optimal unificant set;
The ratio shared by GCP points in unificant set is updated, it is when minimum error probability of the ratio less than setting, then described consistent
Collection is combined into the set of the global GCP after filtering out.
2. according to the method described in claim 1, it is characterized in that, the characteristic point and the first auxiliary SAR figures of described pair of main SAR image
The characteristic point of picture carries out global bi-directional matching, including:
Determine the forward direction matching point set F of main SAR image set of characteristic points and the first auxiliary SAR image set of characteristic pointsg;
Determine the backward matching point set B of main SAR image set of characteristic points and the first auxiliary SAR image set of characteristic pointsg;
To the set FgWith set BgIntersection is taken to obtain the bi-directional matching point set M of main SAR image and the first auxiliary SAR imageg,
The MgAs overall situation GCP gathers.
3. according to the method described in claim 2, it is characterized in that, the main SAR image feature point set is combined into Sm, the first auxiliary SAR
Characteristics of image point set is Ss;
Any feature point in the set is represented with following formula:
Wherein, (x, y) represents the location information of characteristic point;V represents the normalization characteristic description vectors of characteristic point.
4. the according to the method described in claim 3, it is characterized in that, main SAR image set of characteristic points SmWith the first auxiliary SAR
Characteristics of image point set SsForward direction matching point set FgIt determines in the following manner:
Wherein, the R (Pm,Ss) it is main SAR image characteristic point PmWith the first auxiliary SAR image set of characteristic points SsEuclidean distance
Ratio;The Rth1For R (Pm,Ss) predetermined threshold value;P′sFor SsMiddle arbitrary characteristics point;PsFor the SsCharacteristic point.
5. the according to the method described in claim 4, it is characterized in that, R (Pm,Ss) determine in the following manner:
WhereinRepresent in the first auxiliary SAR image with PmAt a distance of nearest point;Represent in the first auxiliary SAR image with PmAt a distance of secondary near point.
6. the according to the method described in claim 3, it is characterized in that, main SAR image set of characteristic points SmWith the first auxiliary SAR
Characteristics of image point set SsBackward matching point set FgIt determines in the following manner:
Wherein, the R (Ps,Sm) it is the first auxiliary SAR image characteristic point PsWith main SAR image set of characteristic points SmEuclidean distance
Ratio;The Rth2For R (Ps,Sm) predetermined threshold value;The PmFor the SmCharacteristic point;The P 'mFor the SmArbitrary spy
Sign point.
7. the according to the method described in claim 6, it is characterized in that, R (Ps,Sm) determine in the following manner:
Wherein,Represent in main SAR image with PsAt a distance of nearest point;Represent in main SAR image with PsAt a distance of secondary near point.
8. according to the method described in claim 4 to 7 any of which item, which is characterized in that the bi-directional matching point set MgPass through
In the following manner determines:
Mg={ (Ps,Pm)|(Ps,Pm)∈Fg∩(Ps,Pm)∈Bg}={ (Ps,Pm)|Ps∈Ms,Pm∈Mm,
Wherein, the PsFor the SsCharacteristic point, PmFor the SmCharacteristic point, MsFor the set of main SAR image, MmSupplemented by scheme
The set of picture.
9. according to the method described in claim 8, it is characterized in that, the global GCP set execution first based on acquisition is auxiliary
SAR image to main SAR image global registration, including:
According to Mm1And Ms1Determine the transformation matrix A of affine transformation;Wherein, Mm1It is MgIn belong to the global GCP collection of main SAR image
It closes, Ms1It is MgIn belong to auxiliary SAR image global GCP set;
Affine transformation is respectively made to all characteristic points of auxiliary image according to the determining transformation matrix A, after obtaining global registration
Auxiliary image.
10. according to the method described in claim 9, it is characterized in that, the transformation matrix A is determined in the following manner:
It is as affine transformation respectively to all characteristic points of auxiliary image according to the transformation matrix A:
Im1=AIs1
Wherein,
The Im1Represent Mm1In GCP, Is1Represent Ms1In GCP.
It is 11. according to the method described in claim 3, it is characterized in that, describedIt is determined by following formula:
Wherein,Represent in the second auxiliary SAR image with PmAt a distance of nearest point;Represent in the second auxiliary SAR image with PmAt a distance of secondary near point.
12. according to the method described in claim 1, it is characterized in that, the main SAR image characteristic point is determined in the following manner
With the backward matching point set B of the second auxiliary SAR image characteristic pointl:
Wherein, the feature point set of the described second auxiliary SAR image is combined intoIt is describedIn characteristic point beIt is described
For the second auxiliary SAR image characteristic pointWith main SAR image set of characteristic points SmEuclidean distance ratio;The Rth3ForPredetermined threshold value;The PmFor the SmCharacteristic point;The P 'mFor the SmArbitrary characteristics point.
13. according to the method for claim 12, which is characterized in that describedIt is determined by following formula:
Wherein,Represent in main SAR image withAt a distance of nearest point;Represent in main SAR image withAt a distance of secondary near point, V represents characteristic point
Normalization characteristic description vectors.
14. according to the method described in claim 11 to 13 any of which item, which is characterized in that the bi-directional matching point set Ml
It is determined by following formula:
It is describedRepresent the local GCP set of main SAR image, the LmRepresent the local GCP set of auxiliary SAR image.
15. according to the method for claim 14, which is characterized in that the local GCP set based on acquisition performs second
Auxiliary SAR image to main SAR image local registration, including:
According to Mm2And Ms2Determine the transformation matrix B of affine transformation;Wherein, Mm2It is MlIn belong to the global GCP collection of main SAR image
It closes, Ms2It is MlIn belong to auxiliary SAR image global GCP set;
According to the determining transformation matrix B to described second auxiliary SAR image characteristic point radius DthIn the range of all characteristic points
Respectively make affine transformation.
16. according to the method for claim 15, which is characterized in that the transformation matrix B is determined in the following manner:
It is as affine transformation respectively to all characteristic points of auxiliary image according to the transformation matrix B:
Im2=BIs2
Wherein,
The Im2Represent Mm2In GCP, Is2Represent Ms2In GCP.
17. a kind of synthetic aperture radar SAR image registration apparatus, which is characterized in that described device includes:Feature point extraction mould
Block, the first bi-directional matching module, the first registration module, the second bi-directional matching module and the second registration module;Wherein,
The feature point extraction module, for carrying out feature point extraction respectively to main SAR image and the first auxiliary SAR image;
The first bi-directional matching module carries out complete for the characteristic point of the characteristic point to main SAR image and the first auxiliary SAR image
Office's bi-directional matching obtains global ground control point GCP;
First registration module, for selecting a sample from global registration GCP set, the sample includes 3 matchings
GCP points pair;According to described 3 matching GCP points to obtaining transformation matrix;The affine transformation matrix is gathered according to the GCP, is obtained
The error that GCP set is each put is obtained, when error is less than given threshold, which is added in unificant set;According to current
Element number judges whether current unificant set is optimal unificant set in unificant set, if so, update is current optimal consistent
Set;The ratio shared by GCP points in unificant set is updated, when the ratio is less than the minimum error probability of setting, then described one
Collection is caused to be combined into the set of the global GCP after filtering out, the first auxiliary SAR image is performed based on the global GCP set after described filtered out
To the global registration of main SAR image, the second auxiliary SAR image after global registration is obtained;
The second bi-directional matching module clicks through for the feature of the characteristic point to main SAR image and the second auxiliary SAR image
Row part bi-directional matching, obtains part GCP set;Wherein, to each feature in main SAR image and the second auxiliary SAR image
Point, in radius DthIn the range of, perform following handle:
Determine the forward direction matching point set F of the main SAR image characteristic point and the second auxiliary SAR image characteristic pointl;Wherein, before described
To matching point set FlIt determines in the following manner:
Wherein, the feature point set of the described second auxiliary SAR image is combined intoIt is describedIn characteristic point beIt is described
For main SAR image characteristic point PmWith the second auxiliary SAR image set of characteristic pointsEuclidean distance ratio;The RthForPredetermined threshold value;It is describedCharacteristic point for the second auxiliary SAR imageWith main SAR image characteristic point PmSky
Between distance;The SmSet of characteristic points for main SAR image;It is describedForMiddle arbitrary characteristics point;
To each characteristic point in main SAR image and the second auxiliary SAR image, in radius DthIn the range of, determine the main SAR image
The backward matching point set B of characteristic point and the second auxiliary SAR image characteristic pointl;
To the set FlWith set BlTake two-way of the intersection acquisition main SAR image characteristic point and auxiliary SAR image characteristic point
With point set Ml;
Second registration module performs the second auxiliary SAR image for the local GCP set based on the acquisition and schemes to main SAR
The local registration of picture obtains the auxiliary SAR image of third.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410682140.1A CN104331899B (en) | 2014-11-24 | 2014-11-24 | A kind of SAR image registration method and device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410682140.1A CN104331899B (en) | 2014-11-24 | 2014-11-24 | A kind of SAR image registration method and device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104331899A CN104331899A (en) | 2015-02-04 |
CN104331899B true CN104331899B (en) | 2018-06-19 |
Family
ID=52406619
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410682140.1A Active CN104331899B (en) | 2014-11-24 | 2014-11-24 | A kind of SAR image registration method and device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104331899B (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104966294B (en) * | 2015-06-15 | 2016-03-23 | 清华大学 | Based on Polarimetric SAR Image matching process and the device of orientation angle inverting |
CN105787465A (en) * | 2016-03-21 | 2016-07-20 | 苏州东吴维桢信息技术有限公司 | Image identification method based on position structure |
CN106443676A (en) * | 2016-09-29 | 2017-02-22 | 中国科学院电子学研究所 | Scarce control point space-borne synthetic aperture radar image ground positioning method |
CN106990412B (en) * | 2017-05-11 | 2019-06-11 | 哈尔滨工业大学 | A kind of method for registering images of interference synthetic aperture laser radar system |
CN108871291A (en) * | 2017-05-12 | 2018-11-23 | 北京中天易观信息技术有限公司 | Big data match point intelligent compression method in a kind of aerial triangulation |
CN107240130B (en) * | 2017-06-06 | 2020-12-04 | 苍穹数码技术股份有限公司 | Remote sensing image registration method, device and system |
CN107884772A (en) * | 2017-10-26 | 2018-04-06 | 中国测绘科学研究院 | Method and device of the optimal interference images of time series InSAR to selection |
CN107977991B (en) * | 2017-11-30 | 2019-07-09 | 齐鲁工业大学 | Medical image registration method based on space length Yu data distribution similarity measurement |
CN111639662A (en) * | 2019-12-23 | 2020-09-08 | 珠海大横琴科技发展有限公司 | Remote sensing image bidirectional matching method and device, electronic equipment and storage medium |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101667293A (en) * | 2009-09-24 | 2010-03-10 | 哈尔滨工业大学 | Method for conducting high-precision and steady registration on diversified sensor remote sensing images |
CN102663738A (en) * | 2012-03-20 | 2012-09-12 | 苏州生物医学工程技术研究所 | Method and system for three-dimensional image registration |
CN103914847A (en) * | 2014-04-10 | 2014-07-09 | 西安电子科技大学 | SAR image registration method based on phase congruency and SIFT |
-
2014
- 2014-11-24 CN CN201410682140.1A patent/CN104331899B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101667293A (en) * | 2009-09-24 | 2010-03-10 | 哈尔滨工业大学 | Method for conducting high-precision and steady registration on diversified sensor remote sensing images |
CN102663738A (en) * | 2012-03-20 | 2012-09-12 | 苏州生物医学工程技术研究所 | Method and system for three-dimensional image registration |
CN103914847A (en) * | 2014-04-10 | 2014-07-09 | 西安电子科技大学 | SAR image registration method based on phase congruency and SIFT |
Non-Patent Citations (1)
Title |
---|
一种基于SIFT算法的SAR图像配准方法;范宗杰等;《电子测量技术》;20140831;第37卷(第8期);70-74 * |
Also Published As
Publication number | Publication date |
---|---|
CN104331899A (en) | 2015-02-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104331899B (en) | A kind of SAR image registration method and device | |
EP3639241B1 (en) | Voxel based ground plane estimation and object segmentation | |
Li et al. | Lo-net: Deep real-time lidar odometry | |
US9292961B1 (en) | System and method for detecting a structural opening in a three dimensional point cloud | |
CN104035439B (en) | BAYESIAN NETWORK TO TRACK OBJECTS USING SCAN POINTS USING MULTIPLE LiDAR SENSORS | |
JP5759161B2 (en) | Object recognition device, object recognition method, learning device, learning method, program, and information processing system | |
Fatemi et al. | Poisson multi-Bernoulli mapping using Gibbs sampling | |
Zhang et al. | Hierarchical topic model based object association for semantic SLAM | |
CN102236798B (en) | Image matching method and device | |
CN105354841B (en) | A kind of rapid remote sensing image matching method and system | |
JP2012113353A (en) | Specific area selection device, specific area selection method and program | |
CN103745233B (en) | The hyperspectral image classification method migrated based on spatial information | |
Ding et al. | Vehicle pose and shape estimation through multiple monocular vision | |
Chang et al. | Fast Random‐Forest‐Based Human Pose Estimation Using a Multi‐scale and Cascade Approach | |
CN105103089A (en) | Systems and methods for generating accurate sensor corrections based on video input | |
Zhang et al. | PSNet: Perspective-sensitive convolutional network for object detection | |
Du et al. | SPOT: Selective point cloud voting for better proposal in point cloud object detection | |
Huang et al. | Non-model-based monocular pose estimation network for uncooperative spacecraft using convolutional neural network | |
Dellaert | Monte Carlo EM for data-association and its applications in computer vision | |
CN106767841A (en) | Vision navigation method based on self adaptation volume Kalman filtering and single-point random sampling | |
Xiao et al. | Monocular ORB SLAM based on initialization by marker pose estimation | |
US9792551B1 (en) | Multi-scale information dynamics for decision making | |
Leung et al. | Generalizing random-vector SLAM with random finite sets | |
CN109978043B (en) | Target detection method and device | |
Zhang et al. | Articulated deformable structure approach to human motion segmentation and shape recovery from an image sequence |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |