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FSD-BRIEF: A Distorted BRIEF Descriptor for Fisheye Image Based on Spherical Perspective Model.

Yutong Zhang1, Jianmei Song1, Yan Ding1

  • 1Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China.

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|April 3, 2021
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Summary
This summary is machine-generated.

This study introduces a new distorted Binary Robust Independent Elementary Feature (BRIEF) descriptor to improve feature matching in fisheye images. The novel descriptor enhances distortion invariance and significantly boosts matching performance for wide-field-of-view imagery.

Keywords:
distorted BRIEF descriptorfeature point attitude matrixfisheye cameraspherical perspective model

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Area of Science:

  • Computer Vision
  • Image Processing
  • Robotics

Background:

  • Fisheye images possess a wide Field of View (FOV) but suffer from severe radial distortion.
  • Traditional feature descriptors perform poorly with distorted fisheye images, hindering accurate feature matching.

Purpose of the Study:

  • To develop a novel descriptor for robust feature matching in fisheye images.
  • To address the limitations of existing methods in handling significant radial distortion.

Main Methods:

  • A distorted Binary Robust Independent Elementary Feature (BRIEF) descriptor was designed based on a spherical perspective model.
  • A 3D gray centroid of feature points was utilized, and a feature point attitude matrix described their position and orientation.
  • A coordinate mapping relationship was established between the BRIEF descriptor template and the fisheye image for distorted descriptor computation.

Main Results:

  • The proposed descriptor demonstrated effective distortion invariance.
  • Experimental results showed a significant improvement in feature matching performance for fisheye images.
  • The descriptor accurately handles the radial distortion inherent in wide FOV imagery.

Conclusions:

  • The novel distorted BRIEF descriptor offers a robust solution for feature matching in fisheye images.
  • This method enhances the reliability of computer vision systems utilizing wide-angle lenses.
  • The approach significantly improves upon traditional feature descriptors in distorted image scenarios.