Object Recognition Apparatus and Object Recognition Method Using Epipolar Geometry
First Claim
1. An object recognition apparatus processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object, the object recognition apparatus comprising:
- a feature point detection means detecting feature points of an object image in the first image plane and the second image plane;
a fundamental matrix determination means determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property; and
a three-dimensional position calculation means calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix.
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Abstract
An object recognition apparatus that processes images, as acquired by an imaging means (10) mounted on a moving object, in a first image plane and a second image plane of different points of view, and recognizes an object in the vicinity of the moving object. The object recognition apparatus comprises: a feature point detection means (42) that detects feature points in first and second image planes of an object image; a fundamental matrix determination means (43a) that determines, based on calculation of an epipole through the auto-epipolar property, a fundamental matrix that expresses a geometrically corresponding relationship based on translational camera movement, with not less than two pairs of feature points corresponding between the first and second image planes; and a three-dimensional position calculation means (43b) that calculates a three-dimensional position of an object based on the coordinates of the object in the first and second image planes and the determined fundamental matrix.
30 Citations
11 Claims
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1. An object recognition apparatus processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object, the object recognition apparatus comprising:
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a feature point detection means detecting feature points of an object image in the first image plane and the second image plane; a fundamental matrix determination means determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property; and a three-dimensional position calculation means calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An object recognition method for processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object, the object recognition method comprising:
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a step of detecting feature points of a object image in the first image plane and the second image plane; a step of determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property; and a step of calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix.
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11. A computer-readable medium storing an object recognition program that causes a computer to execute a function of processing images, as acquired by an imaging means mounted on a moving object, in a first image plane and a second image plane having different points of view, and recognizing an object in the vicinity of the moving object,
wherein the object recognition program comprises: -
a function of detecting feature points of a object image in the first image plane and the second image plane; a function of determining a fundamental matrix expressing a geometrically corresponding relationship, based on translational camera movement, between the first image plane and the second image plane, from not less than two pairs of feature points corresponding between the first image plane and the second image plane, on the basis of calculation of epipoles through auto-epipolar property; and a function of calculating a three-dimensional position of the object based on the coordinates of the object in the first image plane and the second image plane and the determined fundamental matrix.
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Specification