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Feature matching plays a crucial role in the process of 3D reconstruction based on the structure from motion (SfM) technique. For a large collection of oblique images, feature matching is one of the most time-consuming steps, and the matching result directly affects the accuracy of subsequent tasks. Therefore, how to extract the reasonable feature points robustly and efficiently to improve the matching speed and quality has received extensive attention from scholars worldwide. Most studies perform quantitative feature point selection based on image Difference-of-Gaussian (DoG) pyramids in practice. However, the stability and spatial distribution of feature points are not considered enough, resulting in selected feature points that may not adequately reflect the scene structures and cannot guarantee the matching rate and the aerial triangulation accuracy. To address these issues, an improved method for stable feature point selection in SfM considering image semantic and structural characteristics is proposed. First, the visible-band difference vegetation index is used to identify the vegetation areas from oblique images, and the line feature in the image is extracted by the optimized line segment detector algorithm. Second, the feature point two-tuple classification model is established, in which the vegetation area recognition result is used as the semantic constraint, the line feature extraction result is used as the structural constraint, and the feature points are divided into three types. Finally, a progressive selection algorithm for feature points is proposed, in which feature points in the DoG pyramid are selected by classes and levels until the number of feature points is satisfied. Oblique images of a 40-km 2  area in Dongying city, China, were used for validation. The experimental results show that compared to the state-of-the-art method, the method proposed in this paper not only effectively reduces the number of feature points but also better reflects the scene structure. At the same time, the average reprojection error of the aerial triangulation decrease by 20%, the feature point matching rate increase by 3%, the selected feature points are more stable and reasonable.

An Improved Method for Stable Feature Points Selection in Structure-from-Motion Considering Image Semantic and Structural Characteristics