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An improved non-rigid registration

algorithm for SAR image based on
thin plate spline

Zhao, Jiqing, Gong, Yun

Jiqing Zhao, Yun Gong, "An improved non-rigid registration algorithm for SAR
image based on thin plate spline," Proc. SPIE 11373, Eleventh International
Conference on Graphics and Image Processing (ICGIP 2019), 1137316 (3
January 2020); doi: 10.1117/12.2557330

Event: Eleventh International Conference on Graphics and Image Processing,

2019, Hangzhou, China

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 An Improved Non-Rigid Registration Algorithm for SAR Image based
on Thin Plate Spline
Jiqing Zhao, Yun Gong
Xi’an University of Science and Technology, Xi’an, 710054, China
2315347728@qq.com, 554258750@qq.com

ABSTRACT

SAR image registration is a key step in SAR data processing, and it plays an important role in change detection,
image mosaic fusion and target recognition. The traditional rigid registration model can only realize the rotation and
translation transformation of a whole image. However, for SAR images with coherent speckle noise and complex
deformation, the local transformation result can’t meet the accuracy requirement of the later data processing. In this
paper, the existing SAR image registration method is improved. After finishing SAR image feature matching by means
of SURF and RANSAC algorithms, we construct an image conversion model with thin plate spline, which can
decompose the space transformation of SAR image into global affine transformation and local non affine transformation.
In this way, the whole and local mapping transformation of images can be realized simultaneously without the local
distortion. The experimental results show that the improved method can achieve better transformation and obtain higher
registration accuracy in the whole and local processing of SAR images.
Keywords: SURF, RANSAC, SAR Image, Non-rigid Registration, Thin Plate Spline.

1. INTRODUCTION
Synthetic Aperture Radar (SAR) is a kind of high resolution microwave remote sensing imaging radar, which can't
be affected by weather and climate. SAR imaging can make up for the defects of infrared imaging and visible light
imaging, so SAR images have a wide application prospect. Image fusion is one of the most effective ways to make full
use of the advantages of SAR images. Image registration is the basis of image fusion, the key step of processing SAR
data, and the basis of SAR image change detection and extraction of interested targets, which has important research
significance [1].
At present, scholars at home and abroad have done a lot of research on SAR image registration methods, and put
forward a number of successful methods. However, these methods can only achieve better registration results under
certain specific conditions, and have certain local limitations. SAR image registration can be divided into gray-based
registration method, transform domain-based registration method and feature-based registration method [2]. In gray-
level-based registration method, Lixia Shu et al. firstly de-noised SAR image, and then used mutual information to
achieve SAR image registration [3]. Loeckx et al. proposed a registration method based on conditional mutual
information [4]. This algorithm introduces the spatial relation of adjacent pixels into the joint histogram, constructs a
new similarity matching criterion, and obtains the best registration result. Xiao et al proposed a method based on
Reyleign mutual information to realize SAR image registration with the same origin [5]. However, this method is very
sensitive to noise, and there is coherent speckle noise in SAR images, so it has some limitations in SAR image
registration. In the transformation domain-based registration method, Yuesong Lin et al. proposed a phase correlation
registration algorithm based on scale estimation for SAR image [6]; Dengsong Xin et al. proposed an improved phase-
dependent registration method, applied to SAR image registration with scaling, rotation and translation [7]. But, this
method is difficult to ensure the registration results of SAR images with rich texture and complex gray scale distribution.
However, the feature-based registration method can't be affected by the change of gray level. It is more suitable for the
registration of SAR images by obtaining the stable feature structure in the image. Chio et al. proposed an image
registration method based on maintaining local geometric consistency [8]. Xiufang Liu et al. applied SIFT algorithm to
feature extraction and automatic matching of multitemporal SAR images [9]. Jianxun Zhang et al. used PCA-SIFT
algorithm and Mahalanobis distance to complete the feature matching, then they used RANSAC to eliminate the
mismatching to complete the automatic registration of SAR images [10].The above research results verify the reliability
and robustness of the feature registration method.

Eleventh International Conference on Graphics and Image Processing (ICGIP 2019), edited by
Zhigeng Pan, Xun Wang, Proc. of SPIE Vol. 11373, 1137316 · © 2020 SPIE
CCC code: 0277-786X/20/$21 · doi: 10.1117/12.2557330

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 The Accelerated Robust Feature (SURF) algorithm is faster and can overcome the deformation problems caused by
scene occlusion, rotational scaling, angular differences, etc. The extracted feature points have relatively stable scale
invariance and rotation invariance [11, 12]. Compared with the SIFT algorithm adopted in literature [13], SURF
maintains the excellent performance characteristics of SIFT operator, and solves the disadvantages of SIFT with high
computational complexity and long time consumption. Moreover, it improves the extraction of interest points and the
description of feature vectors, and improves the computing speed. In addition, this paper conducted edge detection on
SAR images before feature matching, which is conducive to improving the accuracy of SURF feature matching. In the
aspect of registration model selection, the traditional rigid registration model can realize translation, rotation and other
transformations on the whole, but for images with complex changes, its local processing effect is not ideal, while the thin
plate spline function can carry out local elastic transformation, which can realize the mapping processing on the whole
and part of the image [13]. Therefore, based on the edge detection, this paper uses SURF to extract the feature points to
complete the preliminary matching, and then combines the thin-plate spline function to construct the conversion model
to achieve fast and accurate registration of the whole and local SAR images.

2. RESEARCH METHOD
2.1 SURF Feature Extraction Algorithm
The SURF algorithm is a stable feature extraction algorithm proposed by Bay et al. based on the SIFT algorithm,
which not only inherits the superiority of the SIFT algorithm, but also the calculation speed is faster than the former.
(1) Detection of extreme points and construction of scale space
The SURF algorithm performs the detection of extreme points by constructing a Hessian matrix. Since the feature
points in the image need to be scale-independent, the Gaussian filtering of the image is required before the Hessian
matrix is constructed. The Hessian matrix constructed by Gaussian filtering is expressed as formula (1). In formula
(1), 𝐿𝑥𝑥 (𝑥, 𝜎) is the second derivative of image 𝑔(𝜎) in the x direction after Gaussian filtering, and 𝐿𝑦𝑦 (𝑥, 𝜎), 𝐿𝑥𝑦 (𝑥, 𝜎)
is also the second derivative of 𝑔(𝜎). In order to calculate the three unknown matrix elements of H matrix, it is
necessary to use the convolution between specific kernels to calculate the second partial derivative, and use the second
order standard Gaussian function as the filter to calculate [14].

𝐿𝑋𝑋 (𝑥, 𝜎) 𝐿𝑋𝑦 (𝑥, 𝜎)

𝐻(𝑥, 𝜎) = [ ] ()
𝐿𝑦𝑋 (𝑥, 𝜎) 𝐿𝑦𝑦 (𝑥, 𝜎)

Bay et al. used the approximate values of 𝐿 in 𝑥, 𝑦 and 𝑥𝑦 directions to improve the operation speed of Gaussian
convolution, and recorded the approximate values in the three directions as 𝐷𝑥𝑥 , 𝐷𝑦𝑦 and 𝐷𝑥𝑦 . Then, the discriminant can
be expressed as formula (2).

𝑑𝑒𝑡(𝐻𝑎𝑝𝑝𝑟𝑜𝑥 ) = 𝐷𝑥𝑥 𝐷𝑦𝑦 − (𝑙𝐷𝑥𝑦 )2 (2)

Where 𝑙 is the weighting factor and the value is 0.9 to balance the error caused by the approximation. Whether the data is
an extreme point can be determined by the 𝐻 matrix discriminant calculation result.
SURF algorithm simplified the second-order Gaussian differential template by converting the Gaussian convolution
operation between the second-order Gaussian differential template and the image into a box filtering operation [15]. The
simplified template is shown in Fig. 1. Gaussian filtering is realized by the addition and subtraction of integral image in
the processed image. As long as all the pixels in the original image are scanned once, the integral image of the image can
be obtained. When building the image pyramid, the size of the box filter template is repeatedly enlarged to realize the
construction of linear scale space, and the speed of the establishment of scale space is also accelerated.

Figure 1. Simplified Gaussian second order differential template

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 (2) Feature point direction and feature extraction
In order for the feature points to have rotational invariance, each feature point must have a main direction. The SURF
algorithm uses the response of the Haar wavelet to determine the main direction of the feature point. Firstly, the Haar
wavelet response is carried out in the circular region with a radius of 6s with the feature point as the center of the circle.
Then, the obtained response value is Gaussian weighted, and the larger weight is given to the response value close to the
feature point and the smaller weight is given to the response value far from the feature point [16]. Then, the fan-shaped
sliding window with an Angle of π/3 is designed with the feature point as the center, and the window is rotated to obtain
the accumulated value of the response in the window, which is the new vector. The direction of the longest vector
obtained is taken as the main direction of the feature point. As shown in Fig. 2.

Figure 2. Main direction of feature points

Building feature descriptors is the process of building feature vectors. Take the feature point as the center, rotate the
coordinate axis to the main direction, and divide the 20s*20s rectangular region into four sub-regions along the main
direction, and calculate its response value in each sub-region. The 4-dimensional strength structure description vector of
each sub-region can be obtained which expressed as formula (3).

𝑉 = [∑ 𝑑𝑥 , ∑|𝑑𝑥 |, ∑ 𝑑𝑦 , ∑|𝑑𝑦 |] (3)

The feature descriptors with good discrimination can be generated by the description vector of the four-dimensional
structure.
2.2 RANSAC Algorithm
The method uses the RANSAC algorithm to reject the wrong matching point pairs. First, the RANSAC algorithm
randomly selects several points as the inner group points in the matching point set, and calculates the appropriate
transformation matrix H, as shown in the following equation.

𝑥1 ℎ11 ℎ12 ℎ13 𝑥

𝑆 [𝑦1 ] = [ℎ21 ℎ22 ℎ23 ] [𝑦] (4)
1 ℎ31 ℎ32 ℎ33 1

The matrix in the above equation is the model parameter sought, 𝑆 is the scale factor, (𝑥, 𝑦) and (𝑥1 , 𝑦1 ) are
corresponding points to two images. The entire data set is then filtered using the model parameters sought. Repeat the
above steps to get the model with the largest number of inner group points, that is, the corresponding value in formula (5)
is the smallest, then the model is optimal.

𝑚 = ∑𝑖=1[(𝑥𝑖′ − 𝐻𝑥𝑖 )2 + (𝑦𝑖′ − 𝐻𝑦𝑖 )2 ] (5)

RANSAC calculates the error of the matching point after the positive and negative transformation of the
transformation matrix while eliminating the mismatched point, and uses the set threshold to eliminate the point with
larger error, and obtain the further refined registration point [17].

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 2.3 An Improved Non-rigid Registration Algorithm
Since the SAR image does not have rich spectral information and has its own speckle noise, the Canny algorithm
SAR image is used for edge detection before feature matching, and then matched. So this method mainly includes the
following parts: Firstly, Canny algorithm is used to detect the SAR image for edge detection. Then, based on this, the
SURF algorithm is used to complete the feature point extraction, and the feature matching is completed based on the
distance measure. Finally, based on accurately matching the point pairs, the registration model is constructed by using
the thin-plate spline function to achieve accurate transformation of the SAR image as a whole and locally. The specific
flow chart is shown in Fig. 3.

Figure 3. Algorithm flowchart

(1) Thin pate spline registration model

In this method, the SURF and RANSAC algorithms are used to match the SAR images. After obtaining the accurate
feature matching points, we no longer use the traditional rigid registration model, but use the thin-plate spline function as
the registration model. Thin plate spline function is a cubic polynomial interpolation function defined in the two-
dimensional region, which is an extension of the natural spline function. It can decompose the spatial transformation into
a global affine transformation and a local non-affine transformation [15]. From the two images to be registered, calibrate
n pairs of corresponding marker points, 𝑝𝑖 and 𝑞𝑖 i=1,2….n. According to the corresponding marked tie-points, find a
suitable transformation function f in the two-dimensional space to satisfy: (1) minimize a given general function; (2)
satisfy the interpolation equation 𝑞𝑖 = u(𝑝𝑖 ) [18]. For a two-dimensional image, the spatial transformation function
𝑓𝑥𝑦 (𝑥, 𝑦) contains the mapping function in 𝑥 and 𝑦 directions, as shown in formula (6).

𝑓𝑥𝑦 (𝑥, 𝑦) = (𝑓𝑥 (𝑥, 𝑦), 𝑓𝑦 (𝑥, 𝑦)) ()

𝑓𝑥 (𝑥, 𝑦) is mapping function in 𝑥 direction, 𝑓𝑦 (𝑥, 𝑦) is a mapping function in 𝑦 direction. Every mapping function
includes a global transformation and a local transformation [14]. As shown in formula (7), take the mapping function in
the x direction as an example.

𝑓𝑥 (𝑥, 𝑦) = 𝐴(𝑥, 𝑦) + 𝑅(𝑥, 𝑦) (7)

Where A(x, y) = 𝑃𝑚 (𝑥, 𝑦), 𝑅(𝑥, 𝑦) = ∑𝑛𝑖=1 𝐴𝑖 𝑔(𝑟𝑖 ).The function 𝐴(𝑥, 𝑦) is a global linear transformation and 𝑃𝑚 (𝑥, 𝑦) is
a linear polynomial. The function 𝑅(𝑥, 𝑦) is the weighted sum of the nonlinear function 𝑔(𝑟𝑖 ), where 𝑔(𝑟𝑖 ) takes the thin
plate spline transformation function, as shown in formula (8) .

𝑔(𝑖) = 𝑟𝑖 𝑙𝑔𝑟𝑖2 (8)

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 In summary, the mapping function in the 𝑥 direction is shown in formula (9).

𝑓𝑥 (𝑥𝑖 , 𝑦𝑖 ) = 𝑎0 + 𝑎1 𝑥𝑗 + 𝑎2 𝑦𝑖 + ∑𝑛𝑖=1 𝐴𝑖 𝑔(𝑟𝑖 ) (9)

Similarly, a mapping function in the 𝑦 direction can be obtained, so that the thin image spline function can be used to
transform from the image to be registered to the reference image. Thin plate spline registration can ensure the accurate
alignment of the registered image at the control point, and the offset of other regions can make the whole image have the
minimum bending energy [19, 20], so the registered image appears smoother.

3. EXPERIMENT
In this paper, the simulation experiment data is obtained from the relevant websites. The experiment data are divided
into two groups, one is the SAR image of a certain field, and the other is a lake data of a certain place. Considering the
limited experimental equipment, the image size is selected as 1000*1000. The number, position and angle of ground
objects contained in the main image and the auxiliary image of experimental data are different. As shown in Fig. 4.

(a) (b) (c) (d)

Figure 4. Two sets of experimental data.

Because SAR images have speckle noise, it can affect feature extraction. Therefore, the image is edge-detected
before registration, as shown in Fig.5 (a-d). On the basis of edge detection, SURF algorithm is used to extract feature
points quickly, Euclidean distance is used as feature similarity measure to complete feature matching, and then
RANSAC algorithm is used to eliminate wrong matching points on the whole. The tie-points after eliminating are
displayed on two groups of SAR images, as shown in Fig.5 (e-f). The exact matching point pairs are obtained, and then
the global and local conversion of SAR image is realized based on thin plate spline registration model. The results are
shown in Fig.5 (g-h).

(a) (b) (c) (d)

(e) (f)

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 (g) (h)
Figure 5. Experimental result

4. RESULT ANALYSIS
In this paper, the accuracy detection of the registered image is carried out. The Fig.6 is a new image from the local
region fusion of the two SAR images after registration. It can be seen from the natural degree and smooth degree of the
ground object that the registration accuracy is higher.

(a) (b)
Figure 6. Superimposed result of reference image and registered image

In order to further verify the registration accuracy, the feature points on the registered SAR image are quantitatively
examined. Feature points are evenly selected on the SAR images after registration, and 20 feature points are selected for
each group of data, as shown in the Table 1 and Table 2. According to the pixel coordinates of these feature points, the
pixel coordinate difference and registration accuracy of corresponding points can be obtained. The registration accuracy
of the two groups of images is 0.523 and 0.564, respectively. The results show that the registration accuracy of the two
sets of data reaches the sub-pixel level, and the image registration effect is better.
Table 1. Experimental data (1) checkpoint pixel coordinates (unit: pixel)

Pixel coordinates 1 Pixel coordinates 2 Pixel coordinate difference

Point number
x1 y1 x2 y2 ∆x ∆y
 163.695 221.698 1163.530 221.063 0.165 0.635
 553.470 183.947 553.461 183.932 0.009 0.008
 394.367 299.676 394.761 299.688 -0.394 -0.012
 293.581 475.295 293.883 475.601 -0.302 -0.306
 221.894 202.429 221.861 202.429 0.033 0.000
 237.824 202.136 238.617 202.729 -0.793 -0.593
 817.748 682.767 818.355 682.374 0.607 0.393
 245.489 172.149 245.309 172.543 0.180 -0.394
 527.485 566.464 528.579 565.855 -1.049 0.609
 216.389 133.218 216.409 133.100 -0.020 0.118
     - 
 12.297 311.314 712.098 311.113 0.199 0.201
 245.489 11.707 245.887 11.306 -0.398 0.401

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  235.260 249.618 235.122 249.916 0.138 -0.298
 955.710 739.008 956.143 739.701 -0.667 -0.693
 37.856 252.764 38.157 252.781 -0.301 -0.017
 739.319 916.724 739.034 916.027 0.285 0.697
 62.238 111.590 62.239 111.591 -0.001 -0.001
 501.56 238.447 501.734 238.440 -0.174 -0.007
 162.908 11.314 162.008 11.713 0.900 -0.399
Registration accuracy: 0.523

Table 2. Experimental data (2) checkpoint pixel coordinates (unit: pixel)

Pixel coordinates 1 Pixel coordinates 2 Pixel coordinate difference

Point number
𝑥1 𝑦1 𝑥2 𝑦2 ∆x ∆y
1      
2 127.516 81.704 126.656 81.268 0.860 0.436
3 312.967 508.445 313.021 508.612 -0.054 -0.167
4 217.962 111.983 218.631 111.014 -0.669 0.869
5 753.587 165.857 753.642 165.290 -0.055 0.567
6 798.596 675.688 799.105 675.328 -0.509 0.360
7 561.728 488.665 561.342 488.651 0.386 0.014
8 822.681 102.429 822.389 102.032 0.292 0.397
9 250.208 25.864 250.208 25.864 0.000 0.000
10 66.957 218.159 66.051 218.489 0.906 -0.330
11 946.785 621.028 947.685 621.723 -0.900 -0.695
12 250.208 120.635 250.674 120.214 -0.466 0.421
13 602.232 118.275 602.145 118.689 0.087 -0.414
14 238.410 147.375 238.190 147.287 0.220 0.088
15 741.950 521.698 742.758 521.439 -0.808 0.259
16 209.704 231.135 209.590 231.259 0.114 -0.124
17 959.762 937.034 959.765 937.682 -0.003 -0.648
18 180.211 202.429 180.259 202.401 -0.048 0.028
19 741.673 997.714 741.529 997.106 0.144 0.608
20 634.595 543.326 634.274 544.084 0.321 -0.758
Registration accuracy: 0.564

Figure 7. Pixel difference between two of sets of feature point pairs

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 In order to verify the difference between this method and the traditional method using rigid registration model, this
paper uses the traditional method and method of this paper to process the data in experiment one, and then extracts 20
feature point pixel coordinates for each group of experimental results in the same way. The pixel coordinates are no
longer displayed, and the registration results are compared with that using our improved method. It can be seen from the
Table 3 that the method of this paper is higher in registration accuracy than the traditional rigid registration method; As
can be seen from Fig. 7, the pixel difference of 20 pairs of corresponding points processed by the rigid model have a
larger fluctuation degree, among which No. 11 and No. 9 have the largest fluctuation degree, while the pixel difference
of 20 pairs of corresponding points processed by the method in this paper has a smaller fluctuation degree, which proves
that both the whole and the part of SAR images are well processed and transformed.
Table 3. Comparison of registration accuracy (unit: pixel)

Maximum pixel Minimum pixel Registration

Methods
difference difference accuracy
Method of this paper 1.213 0.012 0.523
Rigid registration method 1.921 0.214 0.837

5. SUMMARY AND PROSPECT

In this paper, we improve the previous SAR image registration methods, and we use Canny operator to extract the
edge of SAR images to reduce the interference of speckle noise. Then, we implemented feature matching based on SURF
algorithm, which can eliminate outliers during registration. Based on the RANSAC algorithm, the wrong matching
points are removed as a whole, and reliable matching tie-points are obtained. Finally, based on the matching tie-points,
we constructed the registration model using the thin plate spline substitution function and realize the accurate
transformation of the whole and part of SAR images. We conducted experiments on two groups of SAR images with
angle and position differences, and verified their registration accuracy from vision and pixel aspects. The registration
accuracy of both groups of images reached sub-pixel level, which proved the reliability and robustness of our improved
method. We also compare the improved method with the traditional method, the results show that the accuracy of image
registration of our method is higher than that of traditional method, and the pixel difference of 20 pairs of corresponding
points of our method fluctuates less than that of traditional method, which demonstrates that the overall and local
transformation of SAR images is better based on our method and there is no local distortion, and further proves the
superiority of our improved method. However, the thin plate spline registration model requires high accuracy of
corresponding points, and the method of extracting corresponding points in this paper still needs to be improved.
Moreover, the image data used in this paper is small, and the effect of larger image data matching is not known, which
needs further study.

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