Fig. 1. Coding schematic
Fig. 2. Schematic of roulette wheel selection method
Fig. 3. Schematic of crossover and mutation
Fig. 4. Test images and registration results. (a) Reference image; (b) image without registration; registration images with (a) method 1, (d) method 2, (e) method 3, (f) method 4, and (g) method 5
Fig. 5. Changes of mutual information during iteration. (a) Optimal mutual information; (b) average mutual information
Fig. 6. Line graphs. (a) X; (b) Y; (c) θ
Fig. 7. Exhaust images and registration results. (a) Reference image; (b) image without registration; registration images with (c) method 1, (d) method 2, (e) method 3, (f) method 4, and (g) method 5
Fig. 8. Exhaust images and registration results. (a) Reference image; (b) image without registration; registration images with (c) method 3 and (d) method 5
Method | RMSE (X) /pixel | RMSE (Y) /pixel | RMSE (θ) /(°) | MMI | Time /s |
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Method 1 | 1.1489 | 0.6277 | 0.3286 | 1.2446 | 84.1 | Method 2 | 0.6042 | 0.4960 | 0.2757 | 1.2756 | 84.3 | Method 3 | 0.0949 | 0.0447 | 0.0000 | 1.3254 | 85.4 | Method 4 | 1.5305 | 0.9335 | 0.5973 | 1.1806 | 82.0 | Method 5 | 0.0350 | 0.0150 | 0.0000 | 1.3262 | 13.9 |
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Table 1. Registration results of test image
Method | AVG (X) /pixel | AVG (Y) /pixel | AVG (θ) /(°) | MMI | Time /s |
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Method 1 | -11.84 | 0.02 | 0.59 | 0.4052 | 84.6 | Method 2 | -12.75 | 0.40 | 0.13 | 0.4260 | 84.4 | Method 3 | -12.96 | 0.71 | 0.04 | 0.4346 | 87.0 | Method 4 | -12.38 | 0.43 | 0.17 | 0.4055 | 84.1 | Method 5 | -13.00 | 0.79 | 0.00 | 0.4297 | 16.5 |
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Table 2. Registration results of exhaust image