matchFeaturesInRadius
Find matching features within specified radius
Syntax
Description
returns the indices of the features most likely to correspond between the input feature sets
within the specified radius or radii around each expected match location.indexPairs
= matchFeaturesInRadius(features1
,features2
,points2
,centerPoints
,radius
)
[
also returns the distance between the features in a matched pair in
indexPairs
,matchMetric
]
= matchFeaturesInRadius(___)indexPairs
.
[
specifies options using one or more name-value arguments in addition of the input arguments
in previous syntaxes.indexPairs
,matchMetric
]
= matchFeaturesInRadius(___,Name,Value
)
Examples
Input Arguments
Output Arguments
Tips
Use this function when the 3-D world points that correspond to feature set one
features1
, are known.centerPoints
can be obtained by projecting a 3-D world point onto the second image. You can obtain the 3-D world points by triangulating matched image points from two stereo images.You can specify a circular area of points in feature set two to match with feature set one. Specify the origin as
centerPoints
with a radius specified byradius
. Specify the points to match from feature set two aspoints2
.
References
[1] Fraundorfer, Friedrich, and Davide Scaramuzza. “Visual Odometry: Part II: Matching, Robustness, Optimization, and Applications.” IEEE Robotics & Automation Magazine 19, no. 2 (June 2012): 78–90. https://doi.org/10.1109/MRA.2012.2182810.
[2] Lowe, David G. “Distinctive Image Features from Scale-Invariant Keypoints.” International Journal of Computer Vision 60, no. 2 (November 2004): 91–110. https://doi.org/10.1023/B:VISI.0000029664.99615.94.
[3] Muja, Marius, and David G. Lowe. “Fast Approximate Nearest Neighbors With Automatic Algorithm Configuration:” In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications, 331–40. Lisboa, Portugal: SciTePress - Science and and Technology Publications, 2009. https://doi.org/10.5220/0001787803310340.
[4] Muja, Marius, and David G. Lowe. "Fast Matching of Binary Features." In 2012 Ninth Conference on Computer and Robot Vision, 404–10. New York: Institute of Electrical and Electronics Engineers, 2012. https://doi.org/10.1109/CRV.2012.60.
Extended Capabilities
Version History
Introduced in R2021a
See Also
Functions
showMatchedFeatures
|extractFeatures
|detectHarrisFeatures
|detectSURFFeatures
|detectORBFeatures
|detectFASTFeatures
|detectBRISKFeatures
|detectMinEigenFeatures
|estimateFundamentalMatrix
|estimateGeometricTransform
|detectMSERFeatures
|estimateWorldCameraPose
|worldToImage