Computer Science ›› 2018, Vol. 45 ›› Issue (1): 297-306.doi: 10.11896/j.issn.1002-137X.2018.01.052

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Log-polar Feature Guided Iterative Closest Point Algorithm

ZHOU Shi-hao and ZHANG Yun   

  • Online:2018-01-15 Published:2018-11-13

Abstract: Images with lighting variations,rotation/optical zoom,physical changes of scene or at widely different viewpoints,can substantially change their appearance and shape when they are acquired using different modalities.Even with the state-of-the-art technology,e.g.,the generalized dual-bootstrap iterative closest point (GDB-ICP) method,it is still difficult to register those challenging images.The reason is that the GDB-ICP method uses the scale-invariant blub points (or SIFT keypoints) to drive the iterative closest point method (ICP).However,the SIFT keypoints cannot be reliably extracted from images with large appearance changes.To handle this issue,this paper proposed a novel log-polar feature guided iterative closest point (LPF-ICP) algorithm for image registration.The experimental evaluation illustrates that the LPF-ICP method can reliably extract the log-polar feature points and successfully register all the 22 ima-ge pairs contained in the Rensselaer dataset,while the GDB-ICP method only succeeds in 19 of them,thus verifying the effectiveness of the proposed method.

Key words: Image registration,Scale-invariant feature point,Log-polar space,Stereo vision

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