一种鲁棒的月面宽基线图像特征匹配方法  

A Robust Feature Matching Method for Wide-Baseline Lunar Images

作　　者：彭齐浩 赵腾起 刘传凯[2,3] 项志宇 Peng Qihao;Zhao Tengqi;Liu Chuankai;Xiang Zhiyu(College of Information Science&Electronic Engineering,Zhejiang University,Hangzhou 310027,Zhejiang,China;Beijing Aerospace Flight Control Center,Beijing 100190,China;National Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100190,China;Zhejiang Provincial Key Laboratory of Information Processing,Communication and Networking,Hangzhou 310027,Zhejiang,China)

机构地区：[1]浙江大学信息与电子工程学院,浙江杭州310027 [2]北京航天飞行控制中心,北京100190 [3]航天飞行动力学技术重点实验室,北京100190 [4]浙江省信息处理与通信网络重点实验室,浙江杭州310027

出　　处：《光学学报》2023年第24期181-191,共11页Acta Optica Sinica

基　　金：航天飞行动力学技术重点实验室基金(2022-JYAPAF-F1027)。

摘　　要：针对目前图像匹配算法在月面宽基线、弱纹理和光照变化等条件下匹配成功率低的问题,提出基于视图合成与全局注意力的月面图像匹配方法。首先对同站点月面双目图像使用稀疏视差虚真值训练立体匹配网络,完成同站点图像的三维重建。基于场景深度,结合站点之间惯导先验位姿将待匹配图像转为新的合成视图用于匹配,解决不同站点宽基线图像对之间图像重叠度低、视角变化大等问题。进一步使用基于Transformer的图像匹配网络,提高弱纹理场景下的图像匹配性能,并在后处理阶段引入考虑平面退化的外点滤除方法。在真实月面宽基线图像数据集的结果表明,相比现有算法,提出的匹配算法大幅度提高了宽基线场景下的月面图像匹配精度与成功率,为月球车大跨度行驶中的自主视觉定位提供了重要基础。Objective The vision-based navigation and localization system of China's"Yutu"lunar rover is controlled by a ground teleoperation center.A large-spacing traveling mode with approximately 6-10 m per site is adopted for the rover to maximize the driving distance of the lunar rover and improve the efficiency of remote control exploration.This results in a significant distance between adjacent navigation sites,and considerable rotation,translation,and scale changes in the captured images.Furthermore,the low overlap between images and the vast differences in regional shapes,combined with weak texture and illumination variations on the lunar surface,pose challenges to image feature matching among different sites.Currently,the"Yutu"lunar rover employs inertial measurements and visual matches among different sites for navigation and positioning.The ground teleoperation center adopts inertial measurements as initial poses and optimizes the poses with visual matches by bundle adjustment to obtain the final rover poses.However,due to the wide baseline and significant surface changes of images at different sites,manual assistance is often required to filter or select the correct matches,significantly affecting the efficiency of the ground teleoperation center.Therefore,improving the robustness of image feature matching between different sites to achieve automatic visual positioning is an urgent problem to be addressed.Methods To address the poor performance and low success rate of current image matching algorithms in wide-baseline lunar images with weak textures and illumination variations,we propose a global attention-based lunar image matching algorithm by the view synthesis.First,we utilize sparse feature matching methods to generate sparse pseudo-ground-truth disparities for the rectified stereo lunar images at the same site.Next,we finetune a stereo matching network with these disparities and perform 3D reconstruction for the lunar images at the same site.Then,we leverage inertial measurements among different sites to c

关 键 词：图像处理 月面图像匹配 特征提取 视图合成 三维重建 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]