Abstract: In view of the actual image being degraded,blur-invariant moments are used in scene matching．To solve the problem of the matching algorithm with large quality of computation,two measures including simplifying the computation of features matched and optimizing searching policy were adopted respectively．Aiming at the computation of those blur-invariant moments,an efficient method only suitable to matching process was proposed on the basis of 21sum-tables established beforehand．Aiming at the searching policy,considering that those blur-invariant moments are sensible to image resolution,genetic algorithm was served as the searching method which is performed across the original reference image．Experiment show that with the actual image blurred and noise added,the proposed matching algorithm is good in matching precision,furthermore,and its consuming time is several orders of magnitude lower than the traditional moment-based matching methods and can meet the navigation system’s requirement for real-time．

Key words: Scene matching,Image degraded,Blur-invariant moments,Genetic algorithm