navrobot/gms-feature-matcher

GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)

GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence

Publication:

JiaWang Bian, Wen-Yan Lin, Yasuyuki Matsushita, Sai-Kit Yeung, Tan Dat Nguyen, Ming-Ming Cheng, GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence, CVPR 2017, [Project Page] [pdf] [Bib] [Code] [Youtube]

JiaWang Bian, Wen-Yan Lin, Yun Liu, Le Zhang, Sai-Kit Yeung, Ming-Ming Cheng, Ian Reid, GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence, IJCV 2020, [pdf]

Other Resouces

The method has been integrated into OpenCV library (see xfeatures2d.matchGMS).

More experiments are shown in FM-Bench.

The paper was selected and reviewed by Computer Vision News.

If you find this work useful in your research, please consider citing our paper:

@article{Bian2020gms,
	title={{GMS}: Grid-based Motion Statistics for Fast, Ultra-Robust Feature Correspondence},
	author={Bian, JiaWang and Lin, Wen-Yan and Liu, Yun and Zhang, Le and Yeung, Sai-Kit and Cheng, Ming-Ming and Reid, Ian},
	journal={International Journal of Computer Vision (IJCV)},
	year={2020}
}

Usage

Requirement:

1.OpenCV 3.0 or later (for ORB features, necessary)

2.cudafeatures2d module(for gpu nearest neighbor, optional)

3.OpenCV xfeatures2D moudle (if using the opencv built-in GMS function) 

C++ Example:

See src/demo.cpp

Python Example:

Go to "python" folder. Run "python3 opencv_demo.py". 
(You need install opencv_contrib by "pip install opencv-contrib-python")

Matlab Example:

1. Go to "matlab" folder. Compile the code with OpenCV ('Compile.m'), and run 'demo.m'.

External Examples:

OpenCV C++ demo and Mexopencv example

Tuning Parameters:

In src/demo.cpp
	1.	#define USE_GPU" (need cudafeatures2d module) 
			using cpu mode by commenting it.
			
	2.	We suggest using SIFT features for accuracy, and using ORB features for speed.


In gms_matcher.h
			
	2.	#define THRESH_FACTOR 6		
			Set it higher for more input matches, and lower for the fewer input matches.
			Often 6 for ORB all matches, and 4 or 3 for SIFT matches (after ratio test).
			
	3. 	int GetInlierMask(vector<bool> &vbInliers, bool WithScale = false, bool WithRotation = false)
			Set WithScale to be true for wide-baseline matching and false for video matching.
			Set WithRotation to be true if images have significant reative rotations.

Related projects

• FM-Bench (BMVC 2019, More evaluation details for GMS.)