Reliability based keyframe switching system and method adaptable to ICP
AssigneesNCKU Research and Development Foundation, Himax Technologies Limited
InventorsMing-Der Shieh, Chun-Wei Chen, Ji-Ying Li
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Abstract
A reliability based keyframe switching system adaptable to iterative closest point (ICP) includes a camera that captures frames; a matching device that determines corresponding pairing between the frames for an ICP operation to form a set of plural point-pairs; a transformation device that performs transformation estimation to estimate transformation that minimizes distances of the point-pairs, and determines whether the estimated transformation converges; and a reliability device that determines whether the ICP operation is reliable, and replaces a current keyframe with a new keyframe if the ICP operation is determined to be unreliable.
Claims17
A reliability based keyframe switching system adaptable to iterative closest point (ICP), comprising:
- a camera that captures frames;
- a matching device that determines corresponding pairing between the frames for an ICP operation to form a set of plural point-pairs;
- a transformation device that performs transformation estimation to estimate transformation that minimizes distances of the point-pairs, and determines whether the estimated transformation converges;
- and
- a reliability device that determines whether the ICP operation is reliable, and replaces a current keyframe with a new keyframe if the ICP operation is determined to be unreliable;
- wherein the reliability device performs the following steps to determine whether the ICP operation is reliable:
- obtaining a strength histogram by projecting vectors of keypoints of a current keyframe on a direction of a frame vector, thereby obtaining projected components constructing the strength histogram;
- obtaining a strength index based on the strength histogram;
- and
- if the strength index is greater than a predetermined threshold, a reliable state is determined, otherwise an unreliable state is determined.
A reliability based keyframe switching method adaptable to iterative closest point (ICP), comprising:
- capturing frames;
- determining corresponding pairing between the frames for an ICP operation, thereby forming a set of plural point-pairs;
- performing transformation estimation to estimate transformation that minimizes distances of the point-pairs;
- determining whether the estimated transformation converges;
- determining whether the ICP operation is reliable if the estimated transformation converges;
- and
- replacing a current keyframe with a new keyframe if the ICP operation is determined to be unreliable;
- wherein the step of determining whether the ICP operation is reliable comprises:
- obtaining a strength histogram by projecting vectors of keypoints of a current keyframe on a direction of a frame vector, thereby obtaining projected components constructing the strength histogram;
- obtaining a strength index based on the strength histogram;
- and
- if the strength index is greater than a predetermined threshold, a reliable state is determined, otherwise an unreliable state is determined.
A reliability based keyframe switching method adaptable to iterative closest point (ICP), comprising:
- capturing frames;
- determining corresponding pairing between the frames for an ICP operation, thereby forming a set of plural point-pairs;
- performing transformation estimation to estimate transformation that minimizes distances of the point-pairs;
- determining whether the ICP operation is reliable;
- determining whether the estimated transformation converges if the ICP operation is determined to be reliable;
- and
- replacing a current keyframe with a new keyframe if the ICP operation is determined to be unreliable;
- wherein the step of determining whether the ICP operation is reliable comprises:
- obtaining a strength histogram by projecting vectors of keypoints of a current keyframe on a direction of a frame vector, thereby obtaining projected components constructing the strength histogram;
- obtaining a strength index based on the strength histogram;
- and
- if the strength index is greater than a predetermined threshold, a reliable state is determined, otherwise an unreliable state is determined.
Dependencies are inferred from the claim text.