Research on efficient matching method of coal gangue recognition image and sorting image.

When the coal gangue sorting robot sorts coal gangue, the position of the target coal gangue will change due to belt slippage, deviation, and speed fluctuations of the belt conveyor. This will cause the robotic to fail in grasping or miss grasping. We have developed a solution to this problem: the IMSSP-Net two-stage network gangue image fast matching method. This method will reacquire the target gangue position information and improve the robot's grasping precision and efficiency. In the first stage, we use SuperPoint to guarantee the scene adaptability and credibility of feature point extraction. We have enhanced Superpoint's ability to detect feature points further by using the improved Multi-scale Retinex with Color Restoration enhancement algorithm. In the second stage, we introduce SuperGlue for feature matching to improve the robustness of the matching network. We eliminated erroneous feature matching point pairs and improved the accuracy of image matching by adopting the PROSAC algorithm. We conducted image matching comparison experiments under different object distances, scales, rotation angles, and complex conditions. The experimental platform adopts the double-manipulator truss-type coal gangue sorting robot independently developed by the team. The matching precision, recall, and matching time of the method are 98.2%, 98.3%, and 84.6ms, respectively. The method can meet the requirements of efficient and accurate matching between coal gangue recognition images and sorting images.

People with HIV exhibit spectrally distinct patterns of rhythmic cortical activity serving cognitive flexibility.

Despite effective antiretroviral therapy, cognitive impairment remains prevalent among people with HIV (PWH) and decrements in executive function are particularly prominent. One component of executive function is cognitive flexibility, which integrates a variety of executive functions to dynamically adapt one's behavior in response to changing contextual demands. Though substantial work has illuminated HIV-related aberrations in brain function, it remains unclear how the neural oscillatory dynamics serving cognitive flexibility are affected by HIV-related alterations in neural functioning. Herein, 149 participants (PWH: 74; seronegative controls: 75) between the ages of 29-76 years completed a perceptual feature matching task that probes cognitive flexibility during high-density magnetoencephalography (MEG). Neural responses were decomposed into the time-frequency domain and significant oscillatory responses in the theta (4-8 Hz), alpha (10-16 Hz), and gamma (74-98 Hz) spectral windows were imaged using a beamforming approach. Whole-brain voxel-wise comparisons were then conducted on these dynamic functional maps to identify HIV-related differences in the neural oscillatory dynamics supporting cognitive flexibility. Our findings indicated group differences in alpha oscillatory activity in the cingulo-opercular cortices, and differences in gamma activity were found in the cerebellum. Across all participants, alpha and gamma activity in these regions were associated with performance on the cognitive flexibility task. Further, PWH who had been treated with antiretroviral therapy for a longer duration and those with higher current CD4 counts had alpha responses that more closely resembled those of seronegative controls, suggesting that optimal clinical management of HIV infection is associated with preserved neural dynamics supporting cognitive flexibility.

Motion Artifact Correction for OCT Microvascular Images Based on Image Feature Matching.

Optical coherence tomography angiography (OCTA), a functional extension of optical coherence tomography (OCT), is widely employed for high-resolution imaging of microvascular networks. However, due to the relatively low scan rate of OCT, the artifacts caused by the involuntary bulk motion of tissues severely impact the visualization of microvascular networks. This study proposes a fast motion correction method based on image feature matching for OCT microvascular images. First, the rigid motion-related mismatch between B-scans is compensated through the image feature matching based on the improved oriented FAST and rotated BRIEF algorithm. Then, the axial motion within A-scan lines in each B-scan image is corrected according to the displacement deviation between the detected boundaries achieved by the Scharr operator in a non-rigid transformation manner. Finally, an optimized intensity-based Doppler variance algorithm is developed to enhance the robustness of the OCTA imaging. The experimental results demonstrate the effectiveness of the method.

Advanced Image Stitching Method for Dual-Sensor Inspection.

Efficient image stitching plays a vital role in the Non-Destructive Evaluation (NDE) of infrastructures. An essential challenge in the NDE of infrastructures is precisely visualizing defects within large structures. The existing literature predominantly relies on high-resolution close-distance images to detect surface or subsurface defects. While the automatic detection of all defect types represents a significant advancement, understanding the location and continuity of defects is imperative. It is worth noting that some defects may be too small to capture from a considerable distance. Consequently, multiple image sequences are captured and processed using image stitching techniques. Additionally, visible and infrared data fusion strategies prove essential for acquiring comprehensive information to detect defects across vast structures. Hence, there is a need for an effective image stitching method appropriate for infrared and visible images of structures and industrial assets, facilitating enhanced visualization and automated inspection for structural maintenance. This paper proposes an advanced image stitching method appropriate for dual-sensor inspections. The proposed image stitching technique employs self-supervised feature detection to enhance the quality and quantity of feature detection. Subsequently, a graph neural network is employed for robust feature matching. Ultimately, the proposed method results in image stitching that effectively eliminates perspective distortion in both infrared and visible images, a prerequisite for subsequent multi-modal fusion strategies. Our results substantially enhance the visualization capabilities for infrastructure inspection. Comparative analysis with popular state-of-the-art methods confirms the effectiveness of the proposed approach.

3D reconstruction from endoscopy images: A survey.

Three-dimensional reconstruction of images acquired through endoscopes is playing a vital role in an increasing number of medical applications. Endoscopes used in the clinic are commonly classified as monocular endoscopes and binocular endoscopes. We have reviewed the classification of methods for depth estimation according to the type of endoscope. Basically, depth estimation relies on feature matching of images and multi-view geometry theory. However, these traditional techniques have many problems in the endoscopic environment. With the increasing development of deep learning techniques, there is a growing number of works based on learning methods to address challenges such as inconsistent illumination and texture sparsity. We have reviewed over 170 papers published in the 10 years from 2013 to 2023. The commonly used public datasets and performance metrics are summarized. We also give a taxonomy of methods and analyze the advantages and drawbacks of algorithms. Summary tables and result atlas are listed to facilitate the comparison of qualitative and quantitative performance of different methods in each category. In addition, we summarize commonly used scene representation methods in endoscopy and speculate on the prospects of deep estimation research in medical applications. We also compare the robustness performance, processing time, and scene representation of the methods to facilitate doctors and researchers in selecting appropriate methods based on surgical applications.

Feature Matching of Microsecond-Pulsed Magnetic Fields Combined with Fe3O4 Particles for Killing A375 Melanoma Cells.

The combination of magnetic fields and magnetic nanoparticles (MNPs) to kill cancer cells by magneto-mechanical force represents a novel therapy, offering advantages such as non-invasiveness, among others. Pulsed magnetic fields (PMFs) hold promise for application in this therapy due to advantages such as easily adjustable parameters; however, they suffer from the drawback of narrow pulse width. In order to fully exploit the potential of PMFs and MNPs in this therapy, while maximizing therapeutic efficacy within the constraints of the narrow pulse width, a feature-matching theory is proposed, encompassing the matching of three aspects: (1) MNP volume and critical volume of Brownian relaxation, (2) relaxation time and pulse width, and (3) MNP shape and the intermittence of PMF. In the theory, a microsecond-PMF generator was developed, and four kinds of MNPs were selected for in vitro cell experiments. The results demonstrate that the killing rate of the experimental group meeting the requirements of the theory is at least 18% higher than the control group. This validates the accuracy of our theory and provides valuable guidance for the further application of PMFs in this therapy.

Binocular Visual Measurement Method Based on Feature Matching.

To address the issues of low measurement accuracy and unstable results when using binocular cameras to detect objects with sparse surface textures, weak surface textures, occluded surfaces, low-contrast surfaces, and surfaces with intense lighting variations, a three-dimensional measurement method based on an improved feature matching algorithm is proposed. Initially, features are extracted from the left and right images obtained by the binocular camera. The extracted feature points serve as seed points, and a one-dimensional search space is established accurately based on the disparity continuity and epipolar constraints. The optimal search range and seed point quantity are obtained using the particle swarm optimization algorithm. The zero-mean normalized cross-correlation coefficient is employed as a similarity measure function for region growing. Subsequently, the left and right images are matched based on the grayscale information of the feature regions, and seed point matching is performed within each matching region. Finally, the obtained matching pairs are used to calculate the three-dimensional information of the target object using the triangulation formula. The proposed algorithm significantly enhances matching accuracy while reducing algorithm complexity. Experimental results on the Middlebury dataset show an average relative error of 0.75% and an average measurement time of 0.82 s. The error matching rate of the proposed image matching algorithm is 2.02%, and the PSNR is 34 dB. The algorithm improves the measurement accuracy for objects with sparse or weak textures, demonstrating robustness against brightness variations and noise interference.

Contextual Patch-NetVLAD: Context-Aware Patch Feature Descriptor and Patch Matching Mechanism for Visual Place Recognition.

The goal of visual place recognition (VPR) is to determine the location of a query image by identifying its place in a collection of image databases. Visual sensor technologies are crucial for visual place recognition as they allow for precise identification and location of query images within a database. Global descriptor-based VPR methods face the challenge of accurately capturing the local specific regions within a scene; consequently, it leads to an increasing probability of confusion during localization in such scenarios. To tackle feature extraction and feature matching challenges in VPR, we propose a modified patch-NetVLAD strategy that includes two new modules: a context-aware patch descriptor and a context-aware patch matching mechanism. Firstly, we propose a context-driven patch feature descriptor to overcome the limitations of global and local descriptors in visual place recognition. This descriptor aggregates features from each patch's surrounding neighborhood. Secondly, we introduce a context-driven feature matching mechanism that utilizes cluster and saliency context-driven weighting rules to assign higher weights to patches that are less similar to densely populated or locally similar regions for improved localization performance. We further incorporate both of these modules into the patch-NetVLAD framework, resulting in a new approach called contextual patch-NetVLAD. Experimental results are provided to show that our proposed approach outperforms other state-of-the-art methods to achieve a Recall@10 score of 99.82 on Pittsburgh30k, 99.82 on FMDataset, and 97.68 on our benchmark dataset.

Research on Inter-Frame Feature Mismatch Removal Method of VSLAM in Dynamic Scenes.

Visual Simultaneous Localization and Mapping (VSLAM) estimates the robot's pose in three-dimensional space by analyzing the depth variations of inter-frame feature points. Inter-frame feature point mismatches can lead to tracking failure, impacting the accuracy of the mobile robot's self-localization and mapping. This paper proposes a method for removing mismatches of image features in dynamic scenes in visual SLAM. First, the Grid-based Motion Statistics (GMS) method was introduced for fast coarse screening of mismatched image features. Second, an Adaptive Error Threshold RANSAC (ATRANSAC) method, determined by the internal matching rate, was proposed to improve the accuracy of removing mismatched image features in dynamic and static scenes. Third, the GMS-ATRANSAC method was tested for removing mismatched image features, and experimental results showed that GMS-ATRANSAC can remove mismatches of image features on moving objects. It achieved an average error reduction of 29.4% and 32.9% compared to RANSAC and GMS-RANSAC, with a corresponding reduction in error variance of 63.9% and 58.0%, respectively. The processing time was reduced by 78.3% and 38%, respectively. Finally, the effectiveness of inter-frame feature mismatch removal in the initialization thread of ORB-SLAM2 and the tracking thread of ORB-SLAM3 was verified for the proposed algorithm.

Dual-correlate optimized coarse-fine strategy for monocular laparoscopic videos feature matching via multilevel sequential coupling feature descriptor.

Feature matching of monocular laparoscopic videos is crucial for visualization enhancement in computer-assisted surgery, and the keys to conducting high-quality matches are accurate homography estimation, relative pose estimation, as well as sufficient matches and fast calculation. However, limited by various monocular laparoscopic imaging characteristics such as highlight noises, motion blur, texture interference and illumination variation, most exiting feature matching methods face the challenges of producing high-quality matches efficiently and sufficiently. To overcome these limitations, this paper presents a novel sequential coupling feature descriptor to extract and express multilevel feature maps efficiently, and a dual-correlate optimized coarse-fine strategy to establish dense matches in coarse level and adjust pixel-wise matches in fine level. Firstly, a novel sequential coupling swin transformer layer is designed in feature descriptor to learn and extract multilevel feature representations richly without increasing complexity. Then, a dual-correlate optimized coarse-fine strategy is proposed to match coarse feature sequences under low resolution, and the correlated fine feature sequences is optimized to refine pixel-wise matches based on coarse matching priors. Finally, the sequential coupling feature descriptor and dual-correlate optimization are merged into the Sequential Coupling Dual-Correlate Network (SeCo DC-Net) to produce high-quality matches. The evaluation is conducted on two public laparoscopic datasets: Scared and EndoSLAM, and the experimental results show the proposed network outperforms state-of-the-art methods in homography estimation, relative pose estimation, reprojection error, matching pairs number and inference runtime. The source code is publicly available at https://github.com/Iheckzza/FeatureMatching.

Robust dense-field based copy-move forgery localization using generic radial harmonic Fourier moment invariants.

As the importance of reliable multimedia content increases in today's society, image forensics is a growing field of research. The act of copying and pasting specific parts of an image, known as copy-move forgery, may be utilized for illegal or unethical purposes. Just as with other vision-related technologies, the accuracy of forensic analysis depends on having an appropriate image representation. Most existing feature extraction techniques do not accurately reflect the underlying image content leading to reduced performance. In this article, to detect the copy-move forgery attack, the Generic Radial Harmonic Fourier Moment (GRHFM) is proposed for reliable and distinctive image representation. The algorithm has the ability to effectively manipulate the distribution of zeros to emphasize certain image regions. Additionally, the relationships between complex exponentials and trigonometric functions are exploited to efficiently compute and easily implement the transform kernels. The efficacy of the algorithm is illustrated through experiments on dense-domain-based matching patterns. Experimental results on five benchmarking databases prove the effectiveness of the proposed approach compared with the state-of-the-art methods. According to the average scores, the proposed method demonstrates superior accuracy in overall localization performance. The F1 score, precision, and recall percentage values obtained are 92.5, 95.44, and 91.96, respectively. Robustness experiments on more challenging attacks are also conducted on FAU dataset. Results show that the proposed framework satisfies invariance to the various image variations, and thus an enhanced robustness compared to the previous methods. Moreover, the advantage of reasonable computational cost implies its potential use in real-world forensic applications.

FILNet: Fast Image-Based Indoor Localization Using an Anchor Control Network.

This paper designs a fast image-based indoor localization method based on an anchor control network (FILNet) to improve localization accuracy and shorten the duration of feature matching. Particularly, two stages are developed for the proposed algorithm. The offline stage is to construct an anchor feature fingerprint database based on the concept of an anchor control network. This introduces detailed surveys to infer anchor features according to the information of control anchors using the visual-inertial odometry (VIO) based on Google ARcore. In addition, an affine invariance enhancement algorithm based on feature multi-angle screening and supplementation is developed to solve the image perspective transformation problem and complete the feature fingerprint database construction. In the online stage, a fast spatial indexing approach is adopted to improve the feature matching speed by searching for active anchors and matching only anchor features around the active anchors. Further, to improve the correct matching rate, a homography matrix filter model is used to verify the correctness of feature matching, and the correct matching points are selected. Extensive experiments in real-world scenarios are performed to evaluate the proposed FILNet. The experimental results show that in terms of affine invariance, compared with the initial local features, FILNet significantly improves the recall of feature matching from 26% to 57% when the angular deviation is less than 60 degrees. In the image feature matching stage, compared with the initial K-D tree algorithm, FILNet significantly improves the efficiency of feature matching, and the average time of the test image dataset is reduced from 30.3 ms to 12.7 ms. In terms of localization accuracy, compared with the benchmark method based on image localization, FILNet significantly improves the localization accuracy, and the percentage of images with a localization error of less than 0.1m increases from 31.61% to 55.89%.

Enhancing Feature Detection and Matching in Low-Pixel-Resolution Hyperspectral Images Using 3D Convolution-Based Siamese Networks.

Today, hyperspectral imaging plays an integral part in the remote sensing and precision agriculture field. Identifying the matching key points between hyperspectral images is an important step in tasks such as image registration, localization, object recognition, and object tracking. Low-pixel resolution hyperspectral imaging is a recent introduction to the field, bringing benefits such as lower cost and form factor compared to traditional systems. However, the use of limited pixel resolution challenges even state-of-the-art feature detection and matching methods, leading to difficulties in generating robust feature matches for images with repeated textures, low textures, low sharpness, and low contrast. Moreover, the use of narrower optics in these cameras adds to the challenges during the feature-matching stage, particularly for images captured during low-altitude flight missions. In order to enhance the robustness of feature detection and matching in low pixel resolution images, in this study we propose a novel approach utilizing 3D Convolution-based Siamese networks. Compared to state-of-the-art methods, this approach takes advantage of all the spectral information available in hyperspectral imaging in order to filter out incorrect matches and produce a robust set of matches. The proposed method initially generates feature matches through a combination of Phase Stretch Transformation-based edge detection and SIFT features. Subsequently, a 3D Convolution-based Siamese network is utilized to filter out inaccurate matches, producing a highly accurate set of feature matches. Evaluation of the proposed method demonstrates its superiority over state-of-the-art approaches in cases where they fail to produce feature matches. Additionally, it competes effectively with the other evaluated methods when generating feature matches in low-pixel resolution hyperspectral images. This research contributes to the advancement of low pixel resolution hyperspectral imaging techniques, and we believe it can specifically aid in mosaic generation of low pixel resolution hyperspectral images.

Estimation of Wind Speed Based on Schlieren Machine Vision System Inspired by Greenhouse Top Vent.

Greenhouse ventilation has always been an important concern for agricultural workers. This paper aims to introduce a low-cost wind speed estimating method based on SURF (Speeded Up Robust Feature) feature matching and the schlieren technique for airflow mixing with large temperature differences and density differences like conditions on the vent of the greenhouse. The fluid motion is directly described by the pixel displacement through the fluid kinematics analysis. Combining the algorithm with the corresponding image morphology analysis and SURF feature matching algorithm, the schlieren image with feature points is used to match the changes in air flow images in adjacent frames to estimate the velocity from pixel change. Through experiments, this method is suitable for the speed estimation of turbulent or disturbed fluid images. When the supply air speed remains constant, the method in this article obtains 760 sets of effective feature matching point groups from 150 frames of video, and approximately 500 sets of effective feature matching point groups are within 0.1 difference of the theoretical dimensionless speed. Under the supply conditions of high-frequency wind speed changes and compared with the digital signal of fan speed and data from wind speed sensors, the trend of wind speed changes is basically in line with the actual changes. The estimation error of wind speed is basically within 10%, except when the wind speed supply suddenly stops or the wind speed is 0 m/s. This method involves the ability to estimate the wind speed of air mixing with different densities, but further research is still needed in terms of statistical methods and experimental equipment.

A Visual Positioning Method of UAV in a Large-Scale Outdoor Environment.

Visual positioning is a basic component for UAV operation. The structure-based methods are, widely applied in most literature, based on local feature matching between a query image that needs to be localized and a reference image with a known pose and feature points. However, the existing methods still struggle with the different illumination and seasonal changes. In outdoor regions, the feature points and descriptors are similar, and the number of mismatches will increase rapidly, leading to the visual positioning becoming unreliable. Moreover, with the database growing, the image retrieval and feature matching are time-consuming. Therefore, in this paper, we propose a novel hierarchical visual positioning method, which includes map construction, landmark matching and pose calculation. First, we combine brain-inspired mechanisms and landmarks to construct a cognitive map, which can make image retrieval efficient. Second, the graph neural network is utilized to learn the inner relations of the feature points. To improve matching accuracy, the network uses the semantic confidence in matching score calculations. Besides, the system can eliminate the mismatches by analyzing all the matching results in the same landmark. Finally, we calculate the pose by using a PnP solver. Furthermore, we evaluate both the matching algorithm and the visual positioning method experimentally in the simulation datasets, where the matching algorithm performs better in some scenes. The results demonstrate that the retrieval time can be shortened by three-thirds with an average positioning error of 10.8 m.

Graphene-Based Physically Unclonable Functions with Dual Source of Randomness.

There is growing interest in systems with randomized responses for generating physically unclonable functions (PUFs) in anticounterfeiting and authentication applications. Atomic-level control over its thickness and unique Raman spectrum make graphene an attractive material for PUF applications. Herein, we report graphene PUFs that emerge from two independent stochastic processes. Randomized variations in the shape and number of graphene adlayers were achieved by exploiting and improving the mechanistic understanding of the chemical vapor deposition of graphene. The randomized positioning of the graphene domains was then facilitated by dewetting the polymer film, followed by oxygen plasma etching. This approach yielded surfaces with randomly positioned and shaped graphene islands with varied numbers of layers and, therefore, Raman spectra. Raman mapping of surfaces resulted in multicolor images with a high encoding capacity. Advanced feature-matching algorithms were employed for the authentication of multicolor images. The use of two independent stochastic processes on a two-dimensional nanomaterial platform enables the creation of unique and complex surfaces that excessively challenge clonability.

Feature Extraction and Matching of Humanoid-Eye Binocular Images Based on SUSAN-SIFT Algorithm.

Imitating the visual characteristics of human eyes is one of the important tasks of digital image processing and computer vision. Feature correspondence of humanoid-eye binocular images is a prerequisite for obtaining the fused image. Human eyes are more sensitive to edge, because it contains much information. However, existing matching methods usually fail in producing enough edge corresponding pairs for humanoid-eye images because of viewpoint and view direction differences. To this end, we propose a novel and effective feature matching algorithm based on edge points. The proposed method consists of four steps. First, the SUSAN operator is employed to detect features, for its outstanding edge feature extraction capability. Second, the input image is constructed into a multi-scale structure based on image pyramid theory, which is then used to compute simplified SIFT descriptors for all feature points. Third, a novel multi-scale descriptor is constructed, by stitching the simplified SIFT descriptor of each layer. Finally, the similarity of multi-scale descriptors is measured by bidirectional matching, and the obtained preliminary matches are refined by subsequent procedures, to achieve accurate matching results. We respectively conduct qualitative and quantitative experiments, which demonstrate that our method can robustly match feature points in humanoid-eye binocular image pairs, and achieve favorable performance under illumination changes compared to the state-of-the-art.

A Real-Time Registration Algorithm of UAV Aerial Images Based on Feature Matching.

This study aimed to achieve the accurate and real-time geographic positioning of UAV aerial image targets. We verified a method of registering UAV camera images on a map (with the geographic location) through feature matching. The UAV is usually in rapid motion and involves changes in the camera head, and the map is high-resolution and has sparse features. These reasons make it difficult for the current feature-matching algorithm to accurately register the two (camera image and map) in real time, meaning that there will be a large number of mismatches. To solve this problem, we used the SuperGlue algorithm, which has a better performance, to match the features. The layer and block strategy, combined with the prior data of the UAV, was introduced to improve the accuracy and speed of feature matching, and the matching information obtained between frames was introduced to solve the problem of uneven registration. Here, we propose the concept of updating map features with UAV image features to enhance the robustness and applicability of UAV aerial image and map registration. After numerous experiments, it was proved that the proposed method is feasible and can adapt to the changes in the camera head, environment, etc. The UAV aerial image is stably and accurately registered on the map, and the frame rate reaches 12 frames per second, which provides a basis for the geo-positioning of UAV aerial image targets.

Guidelines for Accurate Multi-Temporal Model Registration of 3D Scanned Objects.

Changes in object morphology can be quantified using 3D optical scanning to generate 3D models of an object at different time points. This process requires registration techniques that align target and reference 3D models using mapping functions based on common object features that are unaltered over time. The goal of this study was to determine guidelines when selecting these localized features to ensure robust and accurate 3D model registration. For this study, an object of interest (tibia bone replica) was 3D scanned at multiple time points, and the acquired 3D models were aligned using a simple cubic registration block attached to the object. The size of the registration block and the number of planar block surfaces selected to calculate the mapping functions used for 3D model registration were varied. Registration error was then calculated as the average linear surface variation between the target and reference tibial plateau surfaces. We obtained very low target registration errors when selecting block features with an area equivalent to at least 4% of the scanning field of view. Additionally, we found that at least two orthogonal surfaces should be selected to minimize registration error. Therefore, when registering 3D models to measure multi-temporal morphological change (e.g., mechanical wear), we recommend selecting multiplanar features that account for at least 4% of the scanning field of view. For the first time, this study has provided guidelines for selecting localized object features that can provide accurate 3D model registration for 3D scanned objects.

Learning Geometric Feature Embedding with Transformers for Image Matching.

Local feature matching is a part of many large vision tasks. Local feature matching usually consists of three parts: feature detection, description, and matching. The matching task usually serves a downstream task, such as camera pose estimation, so geometric information is crucial for the matching task. We propose the geometric feature embedding matching method (GFM) for local feature matching. We propose the adaptive keypoint geometric embedding module dynamic adjust keypoint position information and the orientation geometric embedding displayed modeling of geometric information about rotation. Subsequently, we interleave the use of self-attention and cross-attention for local feature enhancement. The predicted correspondences are multiplied by the local features. The correspondences are solved by computing dual-softmax. An intuitive human extraction and matching scheme is implemented. In order to verify the effectiveness of our proposed method, we performed validation on three datasets (MegaDepth, Hpatches, Aachen Day-Night v1.1) according to their respective metrics, and the results showed that our method achieved satisfactory results in all scenes.