Image matching algorithm based on improved AKAZE and Gaussian mixture model

Abstract

.Simultaneous localization and mapping (SLAM) technology has gained popularity as a result of technological advancements, and image matching—the labor-intensive and crucial component of SLAM technology—has emerged as a key area of research. Hence, the purpose of this study is to develop an image matching method based on improved accelerated-KAZE (AKAZE) and Gaussian mixed model (GMM) segmentation to guarantee the successful completion of subsequent vision challenges. (i) For feature extraction and feature description, first, the AKAZE algorithm was used to extract the key points of the gray-scale image, and second, the binary robust independent elementary features (BRIEF) algorithm was used to obtain the descriptors. Introduction of gray-scale prime method and convolution kernel function to enhance the robustness of features in the BRIEF calculation process. (ii) For feature matching, the gray-scale image is pseudocolored, and then all the pixels in its R channel are segmented by GMM, retaining the features in the same segmented region after brute-force matching. The experimental results demonstrate that, in comparison to oriented FAST and rotated BRIEF and AKAZE, the proposed algorithm in this work provides higher matching accuracy for images of different data sets. That is, the matching approach can be used more effectively for subsequent vision tasks.