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STUDY OF EDGE DETECTION TECHNIQUES IN 3D IMAGE MATCHING PROBLEM

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The paper deals withthe problem of image matching in three-dimensional space using      contour description. An object-independent hierarchical structural juxtaposition algorithm is proposed. It is based on 2D structural matching algorithm using an alphabet of simple object-independent contour structural elements. This algorithm proved to be sufficiently robust and reliable for matching successfully the pictures of natural landscapes taken in differing seasons from differing aspect angles by differing sensors (the visible optical, IR, and SAR pictures, as well as the depth maps and geographical vector-type maps), but was unable to compare images of three-dimensional scenes, where it is required to apply different models of geometric transformations to different parts of the image. The three-dimensional version of the algorithm gives the possibility to overcome this limitation, but it is less robust with relation to changes in aspect angles. One of the key stages of the presented algorithm is the building of 3D scene contour descriptions. In order to increase the robustness of the algorithm a study of 3D edge detection techniques is carried out. The quantitative estimation of accuracy and speed of the presented techniques is given. The modification of the 3D structural matching algorithm based on the results of the study is proposed. The developed technique can be used for automatic navigation of extremely low flying unmanned vehicles or autonomous terrestrial robots in view of conditions with high degree a priori scene uncertainty.

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