End to end framework for geometry-aware multi-scale keypoint detection and matching in fisheye images
AssigneeIntel Corporation
InventorsNiloufar Pourian, Oscar Nestares
Life of this patent
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Abstract
Techniques related to feature detection and matching fisheye images are discussed. Such techniques include determining a geometric constraint for the feature matching using match results from a first image based feature matching and generating resultant matches based on applying the geometric constraint and a second image based feature matching that applies a looser image based feature matching requirement than the image based feature matching.
Claims22
A system for keypoint detection and matching in fisheye images comprising:
- a memory configured to store first and second fisheye images;
- and
- one or more processors coupled to the memory, the one or more processors to:
- determine a first set of matching keypoint correspondences between corresponding first and second equirectangular images, wherein the first and second equirectangular images represent projections from the first and second fisheye images, respectively, of a scene;
- map matching keypoints of the first set to a world coordinate system corresponding to the scene;
- determine an essential matrix using the matching keypoints of the first set in the world coordinate system, wherein the essential matrix is representative of an epipolar geometry between the matching keypoints;
- generate a second set of matching keypoint correspondences between the corresponding first and second equirectangular images based at least on each matching keypoint correspondence of the second set satisfying both a geometric matching test using the essential matrix and an image based feature matching test;
- and
- determine and transmit a final set of matching keypoint correspondences for the first and second fisheye images based on the second set.
A method for keypoint detection and matching in fisheye images comprising:
- determining a first set of matching keypoint correspondences between corresponding first and second equirectangular images, wherein the first and second equirectangular images represent projections from first and second fisheye images, respectively, of a scene;
- mapping matching keypoints of the first set to a world coordinate system corresponding to the scene;
- determining an essential matrix using the matching keypoints of the first set in the world coordinate system, wherein the essential matrix is representative of an epipolar geometry between the matching keypoints;
- generating a second set of matching keypoint correspondences between the corresponding first and second equirectangular images based at least on each matching keypoint correspondence of the second set satisfying both a geometric matching test using the essential matrix and an image based feature matching test;
- and
- determining and transmitting a final set of matching keypoint correspondences for the first and second fisheye images based on the second set.
At least one non-transitory machine readable medium comprising a plurality of instructions that, in response to being executed on a device, cause the device to perform keypoint detection and matching in fisheye images by:
- determining a first set of matching keypoint correspondences between corresponding first and second equirectangular images, wherein the first and second equirectangular images represent projections from first and second fisheye images, respectively, of a scene;
- mapping matching keypoints of the first set to a world coordinate system corresponding to the scene;
- determining an essential matrix using the matching keypoints of the first set in the world coordinate system, wherein the essential matrix is representative of an epipolar geometry between the matching keypoints;
- generating a second set of matching keypoint correspondences between the corresponding first and second equirectangular images based at least on each matching keypoint correspondence of the second set satisfying both a geometric matching test using the essential matrix and an image based feature matching test;
- and
- determining and transmitting a final set of matching keypoint correspondences for the first and second fisheye images based on the second set.
Dependencies are inferred from the claim text.