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UDC 004.932.2

ALGORITHM OF TWO-DIMENSIONAL IMAGES MATCHING BY CONTOUR ANALYSIS METHODS

О. V. Kosarev, PhD (technical sciences), associate professor of Informatics SPMU, Saint Petersburg, Russia;
orcid.org/0000-0003-3427-6593, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
E. G. Dementieva, PhD in physics and mathematics, associate professor, department of Informatics, SPMU, Saint Petersburg, Russia;
orcid.org/0000-0002-6793-804X, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Е. V. Katuntsov, PhD (technical sciences), associate professor of Informatics SPMU, Saint Petersburg, Russia;
orcid.org/0000-0001-8345-0979, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Y. А. Luntovskaya, master student, SPMU, Saint Petersburg, Russia;
orcid.org/0000-0001-9694-4732, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
D. А. Katelevsky, student, SPMU, Saint Petersburg, Russia;
orcid.org/0000-0002-5768-5798, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

The problem of two-dimensional images matching obtained by successive scanning of internal surface of premises (internal surface of partially enclosed space) is considered. The aim is to obtain an algorithm for matching of two consecutive images by plane coordinates and rotation angle in the conditions of an error in scanner movement and the absence of position correction signals from external sources. A two-dimensional image is formed by a scanner as a cloud of interference boundary points (points of reflection of scanner signal from the walls of the room). Two consecutive images are shifted and rotated relative to each other by the values different from a scan step. The area of intersection of two images is determined and two auxiliary subsets of points are formed. Each auxiliary subset of points is transformed into a difference vector-contour in complex-valued space. Contour analysis methods determine the angle of mismatch between two images and their relative shift in plane coordinates. Based on this information, a subsequent image is combined with the previous one, considering the compensation of scanner movement error.

Key words: image matching, contour analysis, vector-contour in complex-valued space, slam-method, scanner, point cloud, two-dimensional image, ultra-sound scanning.

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