Automatic driving image matching via Random Sample Consensus (RANSAC) and Spectral Clustering (SC) with monocular camera.

Abstract

In today's big data era, with the development of the Internet of Things (IoT) technology and the trend of autonomous driving prevailing, visual information has shown a blowout increase, but most image matching algorithms have problems such as low accuracy and low inlier rates, resulting in insufficient information. In order to solve the problem of low image matching accuracy and low inlier rate in the field of autonomous driving, this research innovatively applies spectral clustering (SC) in the field of data analysis to image matching in the field of autonomous driving, and a new image matching algorithm "SC-RANSAC" based on SC and Random Sample Consensus (RANSAC) is proposed. The datasets in this research are collected based on the monocular cameras of autonomous driving cars. We use RANSAC to obtain the initial inlier set and the SC algorithm to filter RANSAC's outliers and then use the filtered inliers as the final inlier set. In order to verify the effectiveness of the algorithm, it shows the matching effect from three angles: camera translation, rotation, and rotation and translation. SC-RANSAC is also compared with RANSAC, graph-cut RANSAC, and marginalizing sample consensus by using two different types of datasets. Finally, we select three representative pictures to test the robustness of the SC-RANSAC algorithm. The experimental results show that SC-RANSAC can effectively and reliably eliminate mismatches in the initial matching results; has a high inlier rate, real-time performance, and robustness; and can be effectively applied in the environment of autonomous driving.