Feature mapping between data sets
First Claim
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1. A method of deriving a feature tracking transformation to map at least one feature from a first data set onto a corresponding feature from a second data set, comprising the following steps:
- (a) extracting a first set of points relating to said at least one feature in said first data set;
(b) associating said first set of points with a second set of points in said second data set;
(c) calculating said feature tracking transformation to at least approximately map said first set of points from said first data set to said second set of points in said second data set, wherein said step of calculating said feature tracking transformation comprises the steps of;
(i) for each point in one of said two sets of points, estimating a mapping of said point to a selected point in said other set of points to produce individual point mapping estimates;
(ii) combining said individual point mapping estimates to produce an estimated transformation to map said one set of points to said other set of points;
(iii) applying said estimated transformation to said one set of points to generate an approximate image position;
(iv) repeating said steps (i) to (iii) iteratively to produce an estimated transformation for mapping said other set of points to a set of points from said approximate image position; and
(v) deriving said feature tracking transformation for mapping said first set of points to said second set of points from a combination of said estimated transformations.
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Abstract
The present invention relates to data mapping and involves the mapping of at least one feature from one data set to a corresponding feature in a second data set. Individual points of the features are initially mapped and an transformation for mapping the entire feature is derived from the individual mappings. The feature mapping may be used to enhance vehicle navigation, in feature tracking algorithms, and in image processing systems.
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Citations
36 Claims
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1. A method of deriving a feature tracking transformation to map at least one feature from a first data set onto a corresponding feature from a second data set, comprising the following steps:
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(a) extracting a first set of points relating to said at least one feature in said first data set;
(b) associating said first set of points with a second set of points in said second data set;
(c) calculating said feature tracking transformation to at least approximately map said first set of points from said first data set to said second set of points in said second data set, wherein said step of calculating said feature tracking transformation comprises the steps of;
(i) for each point in one of said two sets of points, estimating a mapping of said point to a selected point in said other set of points to produce individual point mapping estimates;
(ii) combining said individual point mapping estimates to produce an estimated transformation to map said one set of points to said other set of points;
(iii) applying said estimated transformation to said one set of points to generate an approximate image position;
(iv) repeating said steps (i) to (iii) iteratively to produce an estimated transformation for mapping said other set of points to a set of points from said approximate image position; and
(v) deriving said feature tracking transformation for mapping said first set of points to said second set of points from a combination of said estimated transformations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 32, 33, 34, 35)
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29. A device for deriving a feature tracking transformation to map at least one feature from a first data set onto a corresponding feature from a second data set comprising:
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a signal processor operable to extract a first set of points relating to at least one feature from said first data set and to match said first set of point to a second set of points in a second data set;
a calculating circuit operable to calculate a feature tracking transformation to at least approximately map said first set of points from said first data set to said second set of points in said second data set, wherein calculating circuit is operable to perform the following iteration;
for each point in one of said first or said second set of points, said circuit estimates a mapping of said point to a point in said other of said first or said second set of points;
combines said individual point mapping estimates to produce an estimated transformation to map said one set of points to said other set of points;
applies said estimated transformation to said one set of points to generate an approximate image position;
repeats said iterative steps to produce an estimated transformation for mapping said other set of points to a set of points from said approximate image position;
derives said feature tracking transformation for mapping said first set of points to said second points from a combination of said estimated transformations;
said device further comprising an output device for outputting said feature tracking transformation. - View Dependent Claims (30, 31)
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36-37. -37. (canceled)
Specification