(武汉大学)摄影测量学教学课件-第五章-第三节-影像匹配的基本算法

„„„)(ijgG′=′)(ijgG∫∫∈++′=DyxdxdyqypxgyxgqpR),(),(),(),(Rp0,q0Rp,qp≠p0q≠q0„≠≠cjriminjjiggrcR++==′⋅=∑∑,11,),(),(),(00rcRrcR)),(00ccrr≠≠„c0,r0r≡0„XY∑==⋅NijiyxYXR1)(„Ry1y2…,yNmax1==∑=NijiyxR„NN=2Rx1ylx2y2X·Y|X|·|Y|·cosθmax|Y|cosθmax„XYYX2.∫∫∈++′−++′−=DyxdxdyqypxgEqypxgyxgEyxgqpC),()]},([),()]}{,([),({),(∫∫∈=DyxdxdyyxgDyxgE),(),(1)].([∫∫∈++′=++′DyxdxdyqypxgDqypxgE),()],(1)],([≠≠)()(),(,11,ggggrcCcjriminjji′−′⋅−=++==∑∑∑∑==⋅=minjjignmg11,1∑∑==++′⋅=′minjcjrircgnmg11,,1≠≠„∑∑==′′=−−=′⋅′=NiNijijiyxyyxxYXC11))(()(„max=C„E„3.),(),(),(qpCCqpCqpgggg′′=ρ∫∫∈−=DyxggdxdyyxgEyxgC),(2)]},([),({∫∫∈′′++′−++′=DyxggdxdyqypxgEqypxgqpC),(2)]},([),({),(ρρ≠≠∑∑∑∑∑∑====++==++⋅′−′⋅−′−′−=minjminjcrcjrijiminjcjrijiggggggggrc11112,,2,11,,)()())((),(ρ∑∑==++′⋅=′minjcjrircgnmg11,,1∑∑==⋅=minjjignmg11,1∑∑∑∑∑∑∑∑∑∑∑∑∑∑======++++======++==++′⋅−′⋅−′⋅−⋅=minjminjminjcjricjriminjjijiminjminjcjriminjjicjrijignmggnmgggnmggrc1111211,,2211,,21111,11,,,])(1][)(1[)()(1)(),(ρ„X’y’ααρcoscos)(=′′′′=′′′⋅′=YXYXYXYX„1≤ρ∑∑∑==−−−−=NiiiNiiiyyxxyyxx1221)()())((ρbaYY+=′∑∑∑===−′−−′−=′NiNiiiNiiiyyxxyyxx11221)()())((ρ∑∑∑===++−++−=NiNiiiNiiibyabayxxbyabayxx11221)])([()()])()[((4.dxdyqypxgyxgqpSDyx2),(2]),(),([),(∫∫∈++′−=2,11,2)(),(cjriminjjiggrcS++==′−=∑∑„XY∑=−=−++−+−=−=NiiiNNyxyxyxyxYXS12222221122)()()()(L„min)()(2222112=−+−=yxyxS„„x1y25.dxdyqypxgyxgqpSDyx∫∫∈++′−=),(),(),(),(∑∑==++′−=minjcjrijiggrcS11,,),(≠≠„∑=−=−++−+−=NiiiNNyxyxyxyxS12211L„N=2min2211=−+−=yxyxS.VLL„„“”VLLVerticalLineLocusA„A?A„„„ZiZmini·∆Z∆Z„xi’,yi’xi”yi”)()()()()()()()()()()()()()()()()()()()()()()()(333222333111333222333111ssssssissssssissssssissssssiZZcYYbXXaZZcYYbXXafyZZcYYbXXaZZcYYbXXafxZZcYYbXXaZZcYYbXXafyZZcYYbXXaZZcYYbXXafx′′−′′+′′−′′+′′−′′′′−′′+′′−′′+′′−′′−=′′′′−′′+′′−′′+′′−′′′′−′′+′′−′′+′′−′′−=′′′−′+′−′+′−′′−′+′−′+′−′−=′′−′+′−′+′−′′−′+′−′+′−′−=′„xi’,yi’xi”yi”„i123ρ0ρ1ρ2···ρnρkρkmax{ρ0ρ1ρ2···ρn}„ρS.„∆∫∆−∆+=2222)(dxxxxρσ02,/1{)(∆≤∆=xxρ1222∆=xσ∆=29.0xσSf(s)=AB·SC·S2CBik2−=„CBAACBAiii++==+−=+−11ρρρ„11112(2/)(−+−++−=−==iiiiiiCBAρρρρρρ11112(2−+−++−−−=iiiiiikρρρρρCBik2−=11112(2/)(−+−++−=−==iiiiiiCBAρρρρρρ