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Image registration is one of the most fundamental and widely used tools in optical mapping applications. It is mostly achieved by extracting and matching salient points (features) described by vectors (feature descriptors) from images. While matching the descriptors, mismatches (outliers) do appear. Probabilistic methods are then applied to remove outliers and to find the transformation (motion) between images. These methods work in an iterative manner. In this paper, an efficient way of integrating geometric invariants into feature-based image registration is presented aiming at improving the performance of image registration in terms of both computational time and accuracy. To do so, geometrical properties that are invariant to coordinate transforms are studied. This would be beneficial to all methods that use image registration as an intermediate step. Experimental results are presented using both semi-synthetically generated data and real image pairs from underwater environments.

Efficient Image Registration for Underwater Optical Mapping Using Geometric Invariants