1.问题描述:
SIFT,即尺度不变特征变换(Scale-invariant feature transform,SIFT),是用于图像处理领域的一种描述,具有非常强的稳健性。那先来了解一下它的特点和作用:
SIFT算法的特点有:
SIFT特征是图像的局部特征,其对旋转、尺度缩放、亮度变化保持不变性,对视角变化、仿射变换、噪声也保持一定程度的稳定性;
独特性好,信息量丰富,适用于在海量特征数据库中进行快速、准确的匹配;
多量性,即使少数的几个物体也可以产生大量的SIFT特征向量;
高速性,经优化的SIFT匹配算法甚至可以达到实时的要求;
可扩展性,可以很方便的与其他形式的特征向量进行联合。
SIFT算法可以解决的问题:
目标的自身状态、场景所处的环境和成像器材的成像特性等因素影响图像配准/目标识别跟踪的性能。而SIFT算法在一定程度上可解决:
目标的旋转、缩放、平移
图像仿射/投影变换
光照影响
目标遮挡
杂物场景
噪声
2、SIFT算法
按照参考博客所写的内容可以将SIFT算法分解为如下四步:
尺度空间极值检测:搜索所有尺度上的图像位置。通过高斯差分函数来识别潜在的对于尺度和旋转不变的兴趣点。
关键点定位:在每个候选的位置上,通过一个拟合精细的模型来确定位置和尺度。关键点的选择依据于它们的稳定程度。
方向确定:基于图像局部的梯度方向,分配给每个关键点位置一个或多个方向。所有后面的对图像数据的操作都相对于关键点的方向、尺度和位置进行变换,从而提供对于这些变换的不变性。
关键点描述:在每个关键点周围的邻域内,在选定的尺度上测量图像局部的梯度。这些梯度被变换成一种表示,这种表示允许比较大的局部形状的变形和光照变化。
2.部分程序:
% [matchLoc1 matchLoc2] = siftMatch(img1, img2)
%
% This function reads two images, finds their SIFT features, and
% displays lines connecting the matched keypoints. A match is accepted
% only if its distance is less than distRatio times the distance to the
% second closest match.
% It returns the matched points of both images, matchLoc1 = [x1,y1;x2,y2;...]
%
% Example: match('scene.pgm','book.pgm');
function [matchLoc1 matchLoc2] = siftMatch(img1, img2)
% load matchdata
% load img1data
% load img2data
%{,
% Find SIFT keypoints for each image
[des1, loc1] = sift(img1);
[des2, loc2] = sift(img2);
% save img1data des1 loc1
% save img2data des2 loc2
% For efficiency in Matlab, it is cheaper to compute dot products between
% unit vectors rather than Euclidean distances. Note that the ratio of
% angles (acos of dot products of unit vectors) is a close approximation
% to the ratio of Euclidean distances for small angles.
%
% distRatio: Only keep matches in which the ratio of vector angles from the
% nearest to second nearest neighbor is less than distRatio.
distRatio = 0.6;
% For each descriptor in the first image, select its match to second image.
des2t = des2'; % Precompute matrix transpose
matchTable = zeros(1,size(des1,1));
for i = 1 : size(des1,1)
dotprods = des1(i,:) * des2t; % Computes vector of dot products
[vals,indx] = sort(acos(dotprods)); % Take inverse cosine and sort results
% Check if nearest neighbor has angle less than distRatio times 2nd.
if (vals(1) < distRatio * vals(2))
matchTable(i) = indx(1);
else
matchTable(i) = 0;
end
end
% save matchdata matchTable
%}
% Create a new image showing the two images side by side.
img3 = appendimages(img1,img2);
% Show a figure with lines joining the accepted matches.
figure('Position', [100 100 size(img3,2) size(img3,1)]);
colormap('gray');
imagesc(img3);
hold on;
cols1 = size(img1,2);
for i = 1: size(des1,1)
if (matchTable(i) > 0)
line([loc1(i,2) loc2(matchTable(i),2)+cols1], ...
[loc1(i,1) loc2(matchTable(i),1)], 'Color', 'c');
end
end
hold off;
num = sum(matchTable > 0);
fprintf('Found %d matches.\n', num);
idx1 = find(matchTable);
idx2 = matchTable(idx1);
x1 = loc1(idx1,2);
x2 = loc2(idx2,2);
y1 = loc1(idx1,1);
y2 = loc2(idx2,1);
matchLoc1 = [x1,y1];
matchLoc2 = [x2,y2];
end