Fig. 1. Registration algorithm flow chart of far infrared aerial images

Fig. 2. The schematic diagram of MLD feature description

Fig. 3. The schematic diagram of aggregated feature points and the relationship between endpoints and descriptors

Fig. 4. Example of RF-BA rough matching algorithm

Fig. 5. The schematic diagram of RF-BA precise matching and optimization

Fig. 6. Far infrared image feature detection data set

Fig. 7. Probability density distribution and threshold influence curve,(a) matching pair similarity probability density distribution, (b) the influence of different thresholds on RF-BA algorithm

Fig. 8. Bar chart comparing the recall rate and runtime of each matching algorithm,(a) comparison of the recall rates, (b) comparison of the runtime

Fig. 9. Comparison of P-R curves between FAST combined with sMLD algorithm and other feature extraction methods

Fig. 10. Four sets of far infrared image pair for comparative experiments

Fig. 11. Comparison of the RMSE and runtime results, (a) the RMSE Comparison, (b) the run-time comparison