Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching
Fisheye cameras are widely used in visual localization due to the advantage of the wide field of view. However, the severe distortion in fisheye images lead to feature matching difficulties. This paper proposes an IMU-assisted fisheye image matching method called spherically optimized random sample...
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| Format: | Article |
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MDPI AG
2021-05-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/13/10/2017 |
| _version_ | 1797533319658733568 |
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| author | Anbang Liang Qingquan Li Zhipeng Chen Dejin Zhang Jiasong Zhu Jianwei Yu Xu Fang |
| author_facet | Anbang Liang Qingquan Li Zhipeng Chen Dejin Zhang Jiasong Zhu Jianwei Yu Xu Fang |
| author_sort | Anbang Liang |
| collection | DOAJ |
| description | Fisheye cameras are widely used in visual localization due to the advantage of the wide field of view. However, the severe distortion in fisheye images lead to feature matching difficulties. This paper proposes an IMU-assisted fisheye image matching method called spherically optimized random sample consensus (So-RANSAC). We converted the putative correspondences into fisheye spherical coordinates and then used an inertial measurement unit (IMU) to provide relative rotation angles to assist fisheye image epipolar constraints and improve the accuracy of pose estimation and mismatch removal. To verify the performance of So-RANSAC, experiments were performed on fisheye images of urban drainage pipes and public data sets. The experimental results showed that So-RANSAC can effectively improve the mismatch removal accuracy, and its performance was superior to the commonly used fisheye image matching methods in various experimental scenarios. |
| first_indexed | 2024-03-10T11:12:52Z |
| format | Article |
| id | doaj.art-0ef3a916445249ee9b4779a9fbc879b3 |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-10T11:12:52Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-0ef3a916445249ee9b4779a9fbc879b32023-11-21T20:36:45ZengMDPI AGRemote Sensing2072-42922021-05-011310201710.3390/rs13102017Spherically Optimized RANSAC Aided by an IMU for Fisheye Image MatchingAnbang Liang0Qingquan Li1Zhipeng Chen2Dejin Zhang3Jiasong Zhu4Jianwei Yu5Xu Fang6State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaGuangdong Key Laboratory of Urban Informatics, Shenzhen University, Shenzhen 518060, ChinaGuangdong Key Laboratory of Urban Informatics, Shenzhen University, Shenzhen 518060, ChinaGuangdong Key Laboratory of Urban Informatics, Shenzhen University, Shenzhen 518060, ChinaGuangdong Key Laboratory of Urban Informatics, Shenzhen University, Shenzhen 518060, ChinaFisheye cameras are widely used in visual localization due to the advantage of the wide field of view. However, the severe distortion in fisheye images lead to feature matching difficulties. This paper proposes an IMU-assisted fisheye image matching method called spherically optimized random sample consensus (So-RANSAC). We converted the putative correspondences into fisheye spherical coordinates and then used an inertial measurement unit (IMU) to provide relative rotation angles to assist fisheye image epipolar constraints and improve the accuracy of pose estimation and mismatch removal. To verify the performance of So-RANSAC, experiments were performed on fisheye images of urban drainage pipes and public data sets. The experimental results showed that So-RANSAC can effectively improve the mismatch removal accuracy, and its performance was superior to the commonly used fisheye image matching methods in various experimental scenarios.https://www.mdpi.com/2072-4292/13/10/2017fisheye image matchinginertial measurement unit (IMU)random sample consensus (RANSAC)mismatch removalsensor fusion |
| spellingShingle | Anbang Liang Qingquan Li Zhipeng Chen Dejin Zhang Jiasong Zhu Jianwei Yu Xu Fang Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching Remote Sensing fisheye image matching inertial measurement unit (IMU) random sample consensus (RANSAC) mismatch removal sensor fusion |
| title | Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching |
| title_full | Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching |
| title_fullStr | Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching |
| title_full_unstemmed | Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching |
| title_short | Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching |
| title_sort | spherically optimized ransac aided by an imu for fisheye image matching |
| topic | fisheye image matching inertial measurement unit (IMU) random sample consensus (RANSAC) mismatch removal sensor fusion |
| url | https://www.mdpi.com/2072-4292/13/10/2017 |
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