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.
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August 2024
Research Article|
August 28 2024
Automatic driving image matching via Random Sample Consensus (RANSAC) and Spectral Clustering (SC) with monocular camera
Hairong You
;
Hairong You
a)
(Formal analysis, Investigation, Software, Writing – original draft)
1
Ministry of Information Technology, China Minsheng Bank
, No. 2 Fuxingmen Inner Street, Xicheng District, 100032 Beijing, China
a)Author to whom correspondence should be addressed: 1576446905@qq.com
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Yang Xie
Yang Xie
(Methodology, Supervision, Visualization, Writing – review & editing)
2
Mobile Department, Xiaomi Technology Co., Ltd.
, No. 33 Xierqi Middle Road, Haidian District, 100085 Beijing, China
Search for other works by this author on:
a)Author to whom correspondence should be addressed: 1576446905@qq.com
Rev. Sci. Instrum. 95, 085113 (2024)
Article history
Received:
April 21 2024
Accepted:
August 08 2024
Citation
Hairong You, Yang Xie; Automatic driving image matching via Random Sample Consensus (RANSAC) and Spectral Clustering (SC) with monocular camera. Rev. Sci. Instrum. 1 August 2024; 95 (8): 085113. https://doi.org/10.1063/5.0214966
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