CN104331899B - A kind of SAR image registration method and device - Google Patents

A kind of SAR image registration method and device Download PDF

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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
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sar image
point
auxiliary
gcp
main
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CN104331899A (en
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杜康宁
陆萍萍
汪艮
邓云凯
王宇
禹卫东
李宁
鲁萌萌
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Institute of Electronics of CAS
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/30Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10032Satellite or aerial image; Remote sensing
    • G06T2207/10044Radar 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

A kind of SAR image registration method and device
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.
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