System for recognizing three-dimensional objects
AssigneeOmron Tateisi Electronics Co.
InventorsAtushi Hisano, Kazuhiko Saka, Noriyuki Tsukiyama
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Abstract
A system for recognizing a three-dimensional object includes a plurality of image pickup apparatus, e.g. TV cameras, by which images of the object are picked up from at least three directions. Feature points are extracted from each of at least three images obtained. Two sets of feature points on epipolarly lines are formed which lines are formed on at least two of the images by a feature point on another image. A set of feature points is selected which satisfy a restricting condition determined by the relationship of the image picking-up direction.
Claims6
A process for recognizing a three-dimensional object comprising the steps of:
- receiving images of the object from at least three directions,
- extracting feature points from each of the at least three images obtained,
- forming a first set of feature points on an epipolar line formed on the second image by a selected feature point on the first image,
- forming a second set of feature points on an epipolar line formed on the third image by a selected feature point on the first image or by a feature point corresponding thereto, and
- selecting from the two sets of feature points a pair of feature points corresponding to each other and satisfying a restricting condition which is determined by the relationship of the image receiving directions.
A process for recognizing a three-dimensional object comprising the steps of:
- receiving images of the object from at least four directions,
- extracting feature points from each of the four images obtained,
- forming a first set of feature points on an epipolar line formed on the second image by a selected feature point on the first image,
- forming on the third image a set of approximate feature points relating to the selected feature points on the first image,
- forming a second set of feature points on an epipolar line formed on the fourth image by a feature point contained in the set of approximate feature points, and
- selecting from the three sets feature points which satisfy with the selected feature point in the restricting condition that the displacement vectors of two mutually corresponding feature points are equal.
A system for recognizing a three-dimensional object comprising:
- means for receiving images of the object from at least three directions,
- means for extracting feature points from each of the at least three images obtained,
- first means for forming a first set S(m.sub.12) of feature points on an epipolar line formed on the second image by a selected feature point P.sub.1 on the first image,
- second means for forming a second set S(m.sub.13) of feature points on an epipolar line formed on the third image by a selected feature point P.sub.1 on the first image,
- third means for forming third sets S(m.sub.23 (k)) of feature points on epipolar lines formed on the third image by respective feature points contained in the first set, and
- means for calculating a product set of the second set of feature points and the third sets of feature points.
A system for recognizing a three-dimensional object comprising:
- means for receiving images of the object from at least four directions,
- means for extracting feature points from each of the four images obtained,
- first means for forming a first set (HOR) of feature points on an epipolar line formed on the second image by a selected feature point (P.sub.L) on the first image,
- second means for forming on the third image a second set (NEIG) of approximate feature points relating to the selected feature point (P.sub.L) on the first image,
- third means for forming third sets (STAB) of feature points on epipolar lines formed on the fourth image by feature points contained in the second set (NEIG) of feature points, and
- means for selecting, from the above three sets of feature points, a set of feature points which satisfy with the selected feature point P.sub.L the restricting condition that the displacement vectors of two mutually corresponding feature points are equal.
Dependencies are inferred from the claim text.