Reliability analysis of multimodal scene matching based on correlation peaks  

作　　者：Zhirui YU Bai ZHU Zhiqiang HAN Yuanxin YE 

机构地区：[1]Faculty of Geosciences and Engineering,Southwest Jiaotong University,Chengdu 611756,China

出　　处：《Chinese Journal of Aeronautics》2024年第9期433-447,共15页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (No.42271446).

摘　　要：The navigation system plays a pivotal role in guiding aircraft along designated routes,ensuring precise and punctual arrival at destinations.The integration of scene matching with an inertial navigation system enhances the capability of providing a dependable guarantee for success-ful accomplishment of flight missions.Nonetheless,assuring reliability in scene matching encoun-ters significant challenges in areas characterized by repetitive or weak textures.To tackle these challenges,we propose a novel method to assess the reliability of scene matching based on the dis-tinctive characteristics of correlation peaks.The proposed method leverages the fact that the sim-ilarity of the optimal matching result is significantly higher than that of the surrounding area,and three novel indicators(e.g.,relative height,slope of a correlation peak,and ratio of a sub peak to the main peak)are determined to conjointly evaluate the reliability of scene matching.The pro-posed method entails matching a real-time image with a reference image to generate a correlation surface.A correlation peak is then obtained by extracting the portion of the correlation surface exhibiting a significant gradient.Additionally,the matching reliability is determined by considering the relative height,slope,and ratio of the peak collectively.Exhaustive experimental results with two sets of data demonstrate that the proposed method significantly outperforms traditional approaches in terms of precision,recall,and F1-score.These experiments also establish the efficacy of the proposed method in achieving reliable matching in challenging environments characterized by repetitive and weak textures.This enhancement holds the potential to significantly elevate scene-matching-based navigation.

关 键 词：Unmanned aerial vehicle Scene matching navigation Multimodal scene matching Correlation peak Reliabilityanalysis 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.3