As to feature matching, a corner matching method based on moment invariants of RSTC(Rotation, Scale, Translation and Contrast) has been proposed to improve precision and reliability. A new moment invariant of RSTC has been constructed to describe the corner features and to measure the similarity of corner matching, and a guided matching with improved RANSAC robust estimation and epipolar line constraint has been performed.
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In essence it takes the decision profile and decision template as target's feature vector and template respectively, and adopts template matching method to target recognition.
该方法实质上是将目标的决策分布图作为特征矢量，将其和每类目标的决策模板进行匹配以实现融合识别。
Motion corner points are chosen to form a feature vector, and the image intensity is used as a feature matching function to measure inter-frame movement of the vehicle.
该方法取运动角点为特征量，通过选择灰度相关函数为特征匹配函数，实现了车辆在一定帧差内移动距离的测量。
However, due to the image noise, feature extraction algorithm, as well as local similarity of non-stereo matching points, there must be some false matching between the images.
然而，由于图像噪声、特征点提取算法以及非匹配点的局部相似性和遮挡的影响，相关匹配中必然存在较多的误匹配。
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