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Matching images based on a Hausdorff measure has become popular for computer vision applications. In this paper, we develope a probabilistic formulation for Hausdorff matching in terms of maximum likelihood estimation.
This paper examines techniques for a mobile robot to perform self-localization in natural terrain by comparing a dense range map computed from stereo imagery to a range map in a known frame of reference.
One of the basic building blocks in any point-based registration scheme involves matching feature points that are extracted from the sensed image to their counterparts in the reference image. This leads to the fundamental problem of point matching: given two sets of points, find the affine transformation that transforms one point set so that its distance from the other point set is minimized. Because of measurement errors and the presence of outlying data points, it is important that the distance measure between two point sets be robust to these effects. We measure distances using the generalized Hausdorff distance. Point matching can be a computationally intensive task, and there have been a number of algorithms and approaches proposed for solving this problem both theoretical and applied. We present two approaches to the point matching problem, in an attempt to reduce the computational complexity of the problem, while still providing guarantees on the quality of the final match. Our first method is an approximation algorithm, which is loosely based on a branch-and-bound approach due to Huttenlocher and Rucklidge. We show that by varying the approximation error bounds, it is possible to achieve a tradeoff between the quality of the match and the running time of the algorithm. Our second method involves a Monte Carlo method for accelerating the search process used in the first algorithm. With high probability this method succeeds in finding an approximately optimal match. We establish the efficiency of our approaches empirically.
For many Earth and Space Science applications, automatic geo-registration at sub-pixel accuracy has become a necessity. In this work, we are focusing on building an operational system, which will provide a sub-pixel accuracy registration of Landsat-5 and Landsat-7 data. The input to our registration method consists of scenes that have been geometrically and radiometrically corrected. Such pre-processed scenes are then geo-registered relative to a database of Landsat chips. The method assumes a transformation composed of a rotation and a translation, and utilizes rotation- and translation-invariant wavelets to extract image features that are matched using statistically robust feature matching and a generalized Hausdorff distance metric. The registration process is described and results on four Landsat input scenes of the Washington, D.C. area are presented.
This paper addresses the problem of semi-automatic image registration on planetary images. A joint feature-based and area-based approach is proposed. Firstly, the most relevant craters are extracted from the two images to register, and then, registration is performed in two steps. The first step matches the craters extracted from the images based on a generalized Hausdorff distance. In the second step, the mutual information between the two images is maximized to achieve high registration accuracy. Craters are detected by a stochastic-geometry approach based on a marked point process model and of a multiple-birth-and-cut energy minimization algorithm. The experimental validation is carried out with 13 images for the crater extraction stage, and with 20 semi-synthetic pairs of images with ground truth and several images extracted from actual multi-temporal lunar scenes for the registration phase.
A computer program serves as part of a feedback control system that locks the frequency of a laser to one of the spectral peaks of cesium atoms in an optical absorption cell. The system analyzes a saturation absorption spectrum to find a target peak and commands a laser-frequency-control circuit to minimize an error signal representing the difference between the laser frequency and the target peak. The program implements an algorithm consisting of the following steps: Acquire a saturation absorption signal while scanning the laser through the frequency range of interest. Condition the signal by use of convolution filtering. Detect peaks. Match the peaks in the signal to a pattern of known spectral peaks by use of a pattern-recognition algorithm. Add missing peaks. Tune the laser to the desired peak and thereafter lock onto this peak. Finding and locking onto the desired peak is a challenging problem, given that the saturation absorption signal includes noise and other spurious signal components; the problem is further complicated by nonlinearity and shifting of the voltage-to-frequency correspondence. The pattern-recognition algorithm, which is based on Hausdorff distance, is what enables the program to meet these challenges.