Reliable Feature Matching for Spherical Images via Local Geometric Rectification and Learned Descriptor

Abstract

Spherical images have the advantage of recording full scenes using only one camera exposure and have been becoming an important data source for 3D reconstruction. However, geometric distortions inevitably exist due to the spherical camera imaging model. Thus, this study proposes a reliable feature matching algorithm for spherical images via the combination of local geometric rectification and CNN (convolutional neural network) learned descriptor. First, image patches around keypoints are reprojected to their corresponding tangent planes based on a spherical camera imaging model, which uses scale and orientation data from the keypoints to achieve both rotation and scale invariance. Second, feature descriptors are then calculated from the rectified image patches by using a pre-trained separate detector and descriptor learning network, which improves the discriminability by exploiting the high representation learning ability of the CNN. Finally, after classical feature matching with the ratio test and cross check, refined matches are obtained based on an essential matrix-based epipolar geometry constraint for outlier removal. By using three real spherical images and an incremental structure from motion (SfM) engine, the proposed algorithm is verified and compared in terms of feature matching and image orientation. The experiment results demonstrate that the geometric distortions can be efficiently reduced from rectified image patches, and the increased ratio of the match numbers ranges from 26.8% to 73.9%. For SfM-based spherical image orientation, the proposed algorithm provides reliable feature matches to achieve complete reconstruction with comparative accuracy.