SuperGlue-based accurate feature matching via outlier filtering.

The feature matching algorithm based on deep learning has achieved superior performance compared to traditional algorithms in terms of both matching quantity and accuracy, but there are still some high-error matching results in complex scenes, which adversely affects the subsequent work. Based on SuperGlue, we propose an accurate feature matching algorithm via outlier filtering. Firstly, DBSCAN real-time superpixel segmentation (RTSS-DBSCAN) is used to divide the image into regions, and then the outlier filtering module is designed according to the local similarity principle of feature matching. On the premise of not affecting the correct matching results, the matching results with high errors will be filtered to improve the matching accuracy. Meanwhile, due to the lag of traditional Exponential Moving Average algorithm (EMA), an adaptive EMA is designed and integrated into the SuperGlue training process to further improve the training speed and matching accuracy. We evaluate the overall performance of the matching method using the AUC of pose error at the thresholds (5°, 10°, 20°), a common evaluation metric, to provide a more detailed and intuitive evaluation of the matching effectiveness using precision and recall. The experimental results show that the method in this paper can effectively filter the matching results with large errors and has high accuracy and robustness. The AUC of pose error at thresholds (5°, 10°, 20°) reaches 36.53, 56.23, and 73.68, and the precision and recall reach 80.07 and 91.52, respectively, which have better matching results compared with other algorithms. [ABSTRACT FROM AUTHOR]