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US 12,743,866 B2Granted
Fundamental matrix generation apparatus, control method, and computer-readable medium
AssigneeNEC Corporation
InventorGaku Nakano
Life of this patent
Estimating the term…
Abstract
A fundamental matrix generation apparatus performs: detecting three or more feature point pairs from a first image and a second image; detecting, for each of the feature point pairs, a derived point pair that is a pair of a derived point separated by a first distance in a first direction from a point on the first image included in the feature point pair and a derived point separated by a second distance in a second direction from a point on the second image included in the feature point pair; generating a fundamental matrix or the fundamental matrix representing an epipolar constraint on a point on the first image and a point on the second image by using the detected feature point pairs and derived point pairs.
Claims9
A fundamental matrix generation apparatus comprising:
- at least one memory that is configured to store instructions;
- and
- at least one processor that is configured to execute the instructions to:
- detect, from a first image and a second image, three or more feature point pairs that pairs of feature points corresponding to each other;
- detect, for each of the feature point pairs, a derived point pair that is a pair of a point separated by a first distance in a first direction from a point on the first image included in the feature point pair and a point separated by a second distance in a second direction from a point on the second image included in the feature point pair;
- and
- generate a fundamental matrix representing an epipolar constraint between a point on the first image and a point on the second image using each of the detected feature point pairs and the detected derived point pairs,
- wherein the first direction and the first distance are determined based on a feature value computed for the point on the first image included in the feature point pair,
- wherein the second direction and the second distance are determined based on a feature value computed for the point on the second image included in the feature point pair,
- wherein the first direction is determined based on a main-axis direction of a scale-invariant feature value computed for a point on the first image,
- wherein the first distance is determined based on a length of a scale of the scale-invariant feature value computed for the point on the first image,
- wherein the second direction is determined based on a main-axis direction of a scale of a scale-invariant feature value computed for a point on the second image, and
- wherein the second distance is determined based on a length of a scale of the scale-invariant feature value computed for the point on the second image,
- wherein the at least one processor is configured to execute the instructions further to:
- compute signed areas using any three sets of a plurality of the feature point pairs and a plurality of the derived point pairs;
- and
- determine whether or not to generate the fundamental matrix based on signs of the computed signed areas.
14 more elements
A control method executed by a computer, comprising:
- detecting, from a first image and a second image, three or more feature point pairs that are pairs of feature points corresponding to each other;
- detecting, for each of the feature point pairs, a derived point pair that is a pair of a point separated by a first distance in a first direction from a point on the first image included in the feature point pair and a point separated by a second distance in a second direction from a point on the second image included in the feature point pair;
- and
- generating a fundamental matrix representing an epipolar constraint between a point on the first image and a point on the second image using each of the detected feature point pairs and the detected derived point pairs,
- wherein the first direction and the first distance are determined based on a feature value computed for the point on the first image included in the feature point pair,
- wherein the second direction and the second distance are determined based on a feature value computed for the point on the second image included in the feature point pair,
- wherein the first direction is determined based on a main-axis direction and a length of a scale of a scale-invariant feature value computed for a point on the first image,
- wherein the first distance is determined based on a length of a scale of the scale-invariant feature value computed for the point on the first image,
- wherein the second direction is determined based on a main-axis direction of a scale-invariant feature value computed for a point on the second image, and
- wherein the second distance is determined based on a length of a scale of the scale-invariant feature value computed for the point on the second image,
- wherein the control method further comprises:
- computing signed areas for any three sets of a plurality of the feature point pairs and a plurality of the derived point pairs;
- and
- determining whether or not to generate the fundamental matrix based on signs of the computed signed areas.
11 more elements
A non-transitory computer-readable medium storing a program that causes a computer to execute:
- detecting, from a first image and a second image, three or more feature point pairs that are pairs of feature points corresponding to each other;
- detecting, for each of the feature point pairs, a derived point pair that is a pair of a point separated by a first distance in a first direction from a point on the first image included in the feature point pair and a point separated by a second distance in a second direction from a point on the second image included in the feature point pair;
- and
- generating a fundamental matrix representing an epipolar constraint between a point on the first image and a point on the second image using each of the detected feature point pairs and the detected derived point pairs,
- wherein the first direction and the first distance are determined based on a feature value computed for the point on the first image included in the feature point pair,
- wherein the second direction and the second distance are determined based on a feature value computed for the point on the second image included in the feature point pair,
- wherein the first direction is determined based on a main-axis direction and a length of a scale of a scale-invariant feature value computed for a point on the first image,
- wherein the first distance is determined based on a length of a scale of the scale-invariant feature value computed for the point on the first image,
- wherein the second direction is determined based on a main-axis direction of a scale-invariant feature value computed for a point on the second image, and
- wherein the second distance is determined based on a length of a scale of the scale-invariant feature value computed for the point on the second image,
- wherein the program further causes the computer to further execute:
- computing signed areas for any three sets of a plurality of the feature point pairs and a plurality of the derived point pairs;
- and
- determining whether or not to generate the fundamental matrix based on signs of the computed signed areas.
11 more elements
Dependencies are inferred from the claim text.