相似像素的Harris角点检测改进算法
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摘要
针对Harris算法提取的角点对尺度变化较敏感,且运行速度慢的问题,该文提出了一种基于相似像素的Harris角点检测改进算法。受SUSAN算法启发,改进算法首先计算目标像素8邻域内与之相似的像素数目,并据此筛选出候选角点;然后利用候选角点的相似像素数目改进角点响应函数;最后进行局部非极大抑制确定最终角点。实验结果表明,与Harris算法相比,改进算法所提取的角点位置更加准确,重复率较高,且角点检测时间仅为原算法的26.63%。本文所提算法提高了Harris算法的角点检测效率和稳定性。
Aiming at the problem that the Harris algorithm was sensitive to scale changes and ran slowly,an improved Harris corner detection algorithm based on similar pixels was proposed.Inspired by SUSAN algorithm,the improved algorithm first calculated the number of pixels within the8-neighborhood template of the target pixel that were similar to the target pixel,and selected candidate corners by its value;then,the corner response function was improved by the number of similar pixels of candidate corners;finally,the local non-maximal suppression was performed to determine the final corners.The experimental results showed that,compared with Harris algorithm,the improved algorithm achieve better location of corners and higher repeatability rate,and its corner detection time was only26.63%that of the original Harris algorithm.The proposed algorithm could improve the corner detection efficiency and stability of Harris algorithm.
Aiming at the problem that the Harris algorithm was sensitive to scale changes and ran slowly,an improved Harris corner detection algorithm based on similar pixels was proposed.Inspired by SUSAN algorithm,the improved algorithm first calculated the number of pixels within the8-neighborhood template of the target pixel that were similar to the target pixel,and selected candidate corners by its value;then,the corner response function was improved by the number of similar pixels of candidate corners;finally,the local non-maximal suppression was performed to determine the final corners.The experimental results showed that,compared with Harris algorithm,the improved algorithm achieve better location of corners and higher repeatability rate,and its corner detection time was only26.63%that of the original Harris algorithm.The proposed algorithm could improve the corner detection efficiency and stability of Harris algorithm.
引文
[1]赵前鑫,杨英宝.一种基于角点特征的遥感影像自动配准方法[J].测绘科学,2013,38(3):160-162,133.(ZHAO Qianxin,YANG Yingbao.An automatic registration method of remote sensing image based on improved Harris corner extraction[J].Science of Surveying and Mapping,2013,38(3):160-162,133.)
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[9]章为川,程冬,朱磊.基于各向异性高斯核的多尺度角点检测[J].电子测量与仪器学报,2012,26(1):37-42.(ZHANG Weichuan,CHENG Dong,ZHU Lei.Multiscale corner detection based on anisotropic Gaussian kernels[J].Journal of Electronic Measurement and Instrumentation,2012,26(1):37-42.)
[10]SMITH S M,BRADY J M.SUSAN-A new approach to low-level image processing[J].International Journal of Computer Vision,1997,23(1):45-78.
[11]HARRIS C,STEPHENS M J.A combined corner and edge detector[C]∥Proceedings of the 4th Alvey Vision Conference.Manchester.England:IEEE,1988:147-151.
[12]王富平,水鹏朗.采用多尺度方向微分比率的角点检测算法[J].西安交通大学学报,2016,50(4):68-75.(WANG Fuping,SHUI Penglang.A corner detection algorithm based on multi-scale directional differential ratio[J].Journal of Xi’an Jiaotong University,2016,50(4):68-75.)
[13]张小洪,李博,杨丹.一种新的Harris多尺度角点检测[J].电子与信息学报,2007,29(7):1735-1738.(ZHANG Xiaohong,LI Bo,YANG Dang.An novel Harris multi-scale corner detection algorithm[J].Journal of Electronics and Information Technology,2007,29(7):1735-1738.)
[14]张海燕,李元媛,储晨昀.基于图像分块的多尺度Harris角点检测方法[J].计算机应用,2011,31(2):356-357.(ZHANG Haiyan,LI Yuanyuan,CHUChenyun.Multi-scale Harris corner detection based on image block[J].Journal of Computer Applications,2011,31(2):356-357.)
[15]苏婷,金龙旭,李国宁,等.基于改进Harris算法的图像角点检测[J].半导体光电,2015,36(3):495-499.(SU Ting,JIN Longxu,LI Guoning,et al.Image corner detection based on improved Harris algorithm[J].Semiconductor Optoelectronics,2015,36(3):495-499.)
[16]邓淇元,曲长文,江源.基于圆环模板的改进Harris角点检测算法[J].系统工程与电子技术,2016,38(4):949-954.(DENG Qiyuan,QU Changwen,JIANGYuan.Improved corner detection algorithm based on circle mask via Harris[J].Systems Engineering and Electronics,2016,38(4):949-954.)
[17]陈洪,李进强.改进的自适应SUSAN角点特征提取方法[J].测绘科学,2017,42(12):118-121,126.(CHENHong,LI Jinqiang.An improved self-adapting corner feature extraction method[J].Science of Surveying and Mapping,2017,42(12):118-121,126.)
[18]陈白帆,蔡自兴.基于尺度空间理论的Harris角点检测[J].中南大学学报(自然科学版),2005,36(5):37-40.(ZHEN Baifan,CAI Zixing.Harris corner detection based on theory of scale-space[J].Journal of Central South University(Science and Technology),2005,36(5):37-40.)
[19]王民,刘涛,贠卫国.基于图像局部加权熵和自适应阈值的角点检测算法[J].激光与光电子学进展,2017,54(5):157-164.(WANG Min,LIU Tao,YUNWeiguo.Corner detection algorithm based on local weighted entropy and adaptive threshold[J].Laser and Optoelectronics Progress,2017,54(5):157-164.)
[20]吴鹏,徐洪玲,李雯霖,等.基于区域检测的多尺度Harris角点检测算法[J].哈尔滨工程大学学报,2016,37(7):969-973.(WU Peng,XU Hongling,LI Wenlin,et al.Multi-scale Harris-corner detection algorithm based on region detection[J].Journal of Harbin Engineering University,2016,37(7):969-973.)
[2]高飞,王聪,矫东航.基于分块信息熵和特征尺度的图像配准算法[J].北京理工大学学报,2016,36(11):1194-1199.(GAO Fei,WANG Cong,JIAO Donghang.An image recognition algorithm based on block information entropy and characteristic scale[J].Transactions of Beijing Institute of Technology,2016,36(11):1194-1199.)
[3]张见双,张红民,罗永涛,等.一种改进的Harris角点检测的图像配准方法[J].激光与红外,2017,47(2):230-233.(ZHANG Jianshuang,ZHANG Hongmin,LUO Yongtao,et al.Image registration based on improved Harris corner detection algorithm[J].Laser and Infrared,2017,47(2):230-233.)
[4]王晓辉,程健庆,韩瑜.摄像机标定的棋盘格角点自适应检测算法[J].计算机应用,2014,34(S1):199-202,231.(WANG Xiaohui,CHENG Jianqing,HAN Yu.Adaptive checkerboard corners detection algorithm based on camera calibration[J].Journal of Computer Applications,2014,34(S1):199-202,231.)
[5]XIAO Ying,WANG Yonghong,DAN Xizuo,et al.Corner detection and sorting method based on improved Harris algorithm in camera calibration[J].Optical Metrology&Inspection for Industrial Applicatious IV,2016,23:100231.
[6]NING X G,LIN Xiangguo.An index based on joint density of corners and line segments for built-up area detection from high resolution satellite imagery[J].International Journal of Geo-Information,2017,6(11):338.
[7]张军,孙文本,杨正瓴.基于轮廓矩和Harris角点混合特征的车型识别系[J].计算机应用与软件,2016,33(2):142-145,149.(ZHANG Jun,SUN Wenben,YANG Zhengling.Vehicle recognition system based on mixing characteristics of contour moment and Harris corner[J].Computer Applications and Software,2016,33(2):142-145,149.)
[8]王浩,周祚峰,曹剑中,等.基于边缘轮廓上多尺度自相关矩阵的角点检测算法[J].系统工程与电子技术,2014,36(6):1220-1224.(WANG Hao,ZHOUZuofeng,CAO Jianzhong,et al.Corner detection via multi-scale autocorrelation matrix on edge contours[J].Systems Engineering and Electronics,2014,36(6):1220-1224.)
[9]章为川,程冬,朱磊.基于各向异性高斯核的多尺度角点检测[J].电子测量与仪器学报,2012,26(1):37-42.(ZHANG Weichuan,CHENG Dong,ZHU Lei.Multiscale corner detection based on anisotropic Gaussian kernels[J].Journal of Electronic Measurement and Instrumentation,2012,26(1):37-42.)
[10]SMITH S M,BRADY J M.SUSAN-A new approach to low-level image processing[J].International Journal of Computer Vision,1997,23(1):45-78.
[11]HARRIS C,STEPHENS M J.A combined corner and edge detector[C]∥Proceedings of the 4th Alvey Vision Conference.Manchester.England:IEEE,1988:147-151.
[12]王富平,水鹏朗.采用多尺度方向微分比率的角点检测算法[J].西安交通大学学报,2016,50(4):68-75.(WANG Fuping,SHUI Penglang.A corner detection algorithm based on multi-scale directional differential ratio[J].Journal of Xi’an Jiaotong University,2016,50(4):68-75.)
[13]张小洪,李博,杨丹.一种新的Harris多尺度角点检测[J].电子与信息学报,2007,29(7):1735-1738.(ZHANG Xiaohong,LI Bo,YANG Dang.An novel Harris multi-scale corner detection algorithm[J].Journal of Electronics and Information Technology,2007,29(7):1735-1738.)
[14]张海燕,李元媛,储晨昀.基于图像分块的多尺度Harris角点检测方法[J].计算机应用,2011,31(2):356-357.(ZHANG Haiyan,LI Yuanyuan,CHUChenyun.Multi-scale Harris corner detection based on image block[J].Journal of Computer Applications,2011,31(2):356-357.)
[15]苏婷,金龙旭,李国宁,等.基于改进Harris算法的图像角点检测[J].半导体光电,2015,36(3):495-499.(SU Ting,JIN Longxu,LI Guoning,et al.Image corner detection based on improved Harris algorithm[J].Semiconductor Optoelectronics,2015,36(3):495-499.)
[16]邓淇元,曲长文,江源.基于圆环模板的改进Harris角点检测算法[J].系统工程与电子技术,2016,38(4):949-954.(DENG Qiyuan,QU Changwen,JIANGYuan.Improved corner detection algorithm based on circle mask via Harris[J].Systems Engineering and Electronics,2016,38(4):949-954.)
[17]陈洪,李进强.改进的自适应SUSAN角点特征提取方法[J].测绘科学,2017,42(12):118-121,126.(CHENHong,LI Jinqiang.An improved self-adapting corner feature extraction method[J].Science of Surveying and Mapping,2017,42(12):118-121,126.)
[18]陈白帆,蔡自兴.基于尺度空间理论的Harris角点检测[J].中南大学学报(自然科学版),2005,36(5):37-40.(ZHEN Baifan,CAI Zixing.Harris corner detection based on theory of scale-space[J].Journal of Central South University(Science and Technology),2005,36(5):37-40.)
[19]王民,刘涛,贠卫国.基于图像局部加权熵和自适应阈值的角点检测算法[J].激光与光电子学进展,2017,54(5):157-164.(WANG Min,LIU Tao,YUNWeiguo.Corner detection algorithm based on local weighted entropy and adaptive threshold[J].Laser and Optoelectronics Progress,2017,54(5):157-164.)
[20]吴鹏,徐洪玲,李雯霖,等.基于区域检测的多尺度Harris角点检测算法[J].哈尔滨工程大学学报,2016,37(7):969-973.(WU Peng,XU Hongling,LI Wenlin,et al.Multi-scale Harris-corner detection algorithm based on region detection[J].Journal of Harbin Engineering University,2016,37(7):969-973.)