Texture-considered Voronoi constrained image uniform matching method

The invention relates to a texture-considered Voronoi constrained image uniform matching method, which comprises the following steps of inputting two images with overlapping regions, namely a left image and a right image; extracting feature points of the left image and the right image, and constructing feature descriptors; calculating an Euclidean distance for the feature descriptor, searching candidate matching points according to a nearest neighbor distance criterion, and performing initial matching according to a distance ratio of nearest neighbor feature points to next nearest neighbor feature points to obtain initial matching points; respectively constructing Thiessen polygon Voronoi diagrams for the initial matching points and the matching points corresponding to the initial matching points, and constructing a texture-based geometric constraint relationship for all Voronoi nodes to realize gross error elimination and dynamic updating; and calculating an affine relationship of each corresponding Thiessen