Method for comparing points sets
AssigneeRobert Bosch GmbH
InventorCornelius Hahlweg
Life of this patent
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Abstract
In order to compare two two-dimensional sets of points (P1, P2, . . . , P5; G1, G2, . . . G5), an equation system is solved that can be obtained by generating a transformation equation for the first set of points with variable parameters and determining the values of the parameters for which the sum over all squared distances between the transformed points Pi′ of the first set and the assigned points Gi of the second set assumes a minimum, the values of the parameters obtained in this way being used as a measure of the similarity of the sets of points (P1, P2, . . . , P5; G1, G2, . . . G5).
Claims9
A method for joining partially overlapping images in which a first two-dimensional set of points from one of the images and a second two-dimensional set of points from another of the images are compared with one another, comprising the steps of:
- representing each point as a complex number;
- assigning exactly one point of the second set of points unambiguously and invertably to each individual point of the first set of points;
- and
- solving an equation system that can be obtained by generating a transformation equation for the first set of points with variable parameters of a transformation function and determining values of the variable parameters for which a sum over all squared values of a distance between a transformed point of the first set of points and a corresponding point of the second set of points assumes a minimum, the values of the variable parameters serving as a measure of a similarity of the first set of points and the second set of points.
A method for joining partially overlapping images in which a first two-dimensional set of points from one of the images and a second two-dimensional set of points from another of the images are compared with one another, comprising the steps of:
- representing each point as a complex number;
- assigning exactly one point of the second set of points unambiguously and invertably to each individual point of the first set of points;
- and
- solving the equation system ( ∑ i G i P i n * ⋮ ∑ i G i P i * ∑ i G i ) = ( ∑ i P i n P i n * ⋯ ∑ i P i P i n * ∑ i P i n * ⋮ ⋮ ⋮ ∑ i P i n P i * ⋯ ∑ i P i P i * ∑ i P i * ∑ i P i n ⋯ ∑ i P i ∑ i 1 ) ( a n ⋮ a 1 a 0 ) ( 1 )
- the values of parameters a0, a1, . . . serving as a measure of a similarity of the first set of points and the second set of points.
A method for assessing a similarity of two images, comprising the steps of:
- a) selecting a number of characteristic points from each image to generate sets of points;
- b) representing each point as a complex number;
- c) assigning exactly one point of a first set of points unambiguously and invertably to each individual point of a second set of points;
- and
- d) solving an equation system that can be obtained by generating a transformation equation for the first set of points with variable parameters of a transformation function and determining the values of the variable parameters for which a sum over all squared values of a distance between a transformed point of the first set of points and a corresponding point of the second set of points assumes a minimum, the values of the variable parameters serving as a measure of a similarity of the first set of points and the second set of points.
Dependencies are inferred from the claim text.