US 2011/0235898 A1Published application

Matching process in three-dimensional registration and computer-readable storage medium storing a program thereof

AssigneeNational Institute of Advanced Industrial Science and Technology

InventorsMasaharu Watanabe, Fumiaki Tomita

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Abstract

The matching process includes: finding first and second three-dimensional reconstruction point sets that contain three-dimensional position coordinates of segments, and first and second feature set that contain three-dimensional information regarding vertices of the segments, from image data of an object (S2 to S4); and matching the first feature set with the second feature set, thereby determining a corresponding point of the first and second three-dimensional reconstruction point sets (S5 to S10), wherein Step S5 carries out initial matching with respect to the segments; Step S6 selects a feature point from the first feature set; Step S7 specifies an adjustment region containing the selected feature point; Step S8 carries out fine adjustment of matching with respect to the segments within the adjustment region; and Steps S6 to S8 are performed at each increase of the adjustment region and at each selection of the feature point.

Claims8

Dependent claims

A matching process in three-dimensional registration, comprising the steps of:

(1) finding a first three-dimensional reconstruction point set and a first feature set from two image data items obtained by capturing images of an object at two different viewpoints;
(2) finding a second three-dimensional reconstruction point set and a second feature set from two image data items obtained by capturing images of the object at two different viewpoints which differ from the viewpoints in Step (1);
3) matching the first feature set with the second feature set, thereby determining, among the second three-dimensional reconstruction point set, points that corresponds to a point in the first three-dimensional reconstruction point set,
wherein:
the first and second three-dimensional reconstruction point sets respectively contain three-dimensional position coordinates of segments obtained by dividing a boundary of the object in the corresponding two image data items;
the first and second feature sets respectively contain three-dimensional information regarding vertices of the segments;
Step (3) comprises the steps of
(4) carrying out initial matching with respect to the segments of the first and second three-dimensional reconstruction point set;
(5) selecting a feature point from the first feature set;
(6) specifying a region containing the feature point as an adjustment region;
and
(7) carrying out fine adjustment of matching with respect to the segments of the first and second three-dimensional reconstruction point sets within the adjustment region;
Step (7) is performed at each increase of the adjustment region;
and
Steps (6) and (7) are performed at each selection of the feature point.

12 more elements

A matching process in three-dimensional registration, comprising the steps of:

(1) finding a three-dimensional reconstruction point set and a feature set from two image data items obtained by capturing images of an object at two different viewpoints;
(2) finding a model data set and a model feature set of the object;
3) matching the feature set with the model feature set, thereby determining, among the three-dimensional reconstruction point set, points that corresponds to a point in the model data set,
wherein:
the three-dimensional reconstruction point set contains three-dimensional position coordinates of segments obtained by dividing a boundary of the object in the two image data items;
the feature set contains three-dimensional information regarding vertices of the segments;
Step (3) comprises the steps of
(4) carrying out initial matching of the segments of the three-dimensional reconstruction point set with the model feature set;
(5) selecting a feature point from the model feature set;
(6) specifying a region containing the feature point as an adjustment region;
and
(7) carrying out fine adjustment of matching with respect to the segments contained in the three-dimensional reconstruction point set and the model feature set within the adjustment region;
Step (7) is performed at each increase of the adjustment region;
and
Steps (6) and (7) are performed at each selection of the feature point.

12 more elements

A computer-readable storage medium storing a program for causing a computer to execute the functions of:

(1) finding a first three-dimensional reconstruction point set and a first feature set from two image data items obtained by capturing images of an object at two different viewpoints;
(2) finding a second three-dimensional reconstruction point set and a second feature set from two image data items obtained by capturing images of the object at two different viewpoints which differ from the viewpoints in Step (1);
3) matching the first feature set with the second feature set, thereby determining, among the second three-dimensional reconstruction point set, points that corresponds to a point in the first three-dimensional reconstruction point set,
wherein:
the first and second three-dimensional reconstruction point sets respectively contain three-dimensional position coordinates of segments obtained by dividing a boundary of the object in the corresponding two image data items;
the first and second feature sets respectively contain three-dimensional information regarding vertices of the segments;
Step (3) comprises the steps of
(4) carrying out initial matching with respect to the segments of the first and second three-dimensional reconstruction point set;
(5) selecting a feature point from the first feature set;
(6) specifying a region containing the feature point as an adjustment region;
and
(7) carrying out fine adjustment of matching with respect to the segments of the first and second three-dimensional reconstruction point sets within the adjustment region;
the program causes the computer to execute Step (7) at each increase of the adjustment region;
and
the program causes the computer to execute Steps (6) and (7) at each selection of the feature point.

12 more elements

A computer-readable storage medium storing a program for causing a computer to execute the functions of:

(1) finding a three-dimensional reconstruction point set and a feature set from two image data items obtained by capturing images of an object at two different viewpoints;
(2) finding a model data set and a model feature set of the object;
3) matching the feature set with the model feature set, thereby determining, among the three-dimensional reconstruction point set, points that corresponds to a point in the model data set,
wherein:
the three-dimensional reconstruction point set contains three-dimensional position coordinates of segments obtained by dividing a boundary of the object in the corresponding two image data items;
the feature set contains three-dimensional information regarding vertices of the segments;
Step (3) comprises the steps of
(4) carrying out initial matching of the segments of the three-dimensional reconstruction point set with the model feature set;
(5) selecting a feature point from the model feature set;
(6) specifying a region containing the feature point as an adjustment region;
and
(7) carrying out fine adjustment of matching with respect to the segments contained in the three-dimensional reconstruction point set and the model feature set within the adjustment region;
the program causes the computer to execute Step (7) at each increase of the adjustment region;
and
the program causes the computer to execute Steps (6) and (7) at each selection of the feature point.

12 more elements

Dependencies are inferred from the claim text.